Method for sensor calibration, vehicle and related device

Abstract

The invention provides a sensor calibration method, a vehicle and a related device, and the method comprises the steps that an upper computer obtains the equipment model of target equipment, and the target equipment is provided with a sensor; the upper computer determines a target target position based on the equipment model of the target equipment and a pre-stored first corresponding relation, the first corresponding relation comprises a corresponding relation between a plurality of equipment models and a plurality of target positions, and the target target position is a target position corresponding to the equipment model of the target equipment; the upper computer controls the target to move to the target position; and the upper computer sends a starting instruction to the target equipment, wherein the starting instruction is used for indicating starting of external parameter calibration of the sensor. Therefore, one calibration room is not limited to calibration of sensor external parameters of equipment of one equipment model, calibration of sensor external parameters of equipment of different equipment models can be carried out, and the calibration room has high universality.

Description

Technical Field

[0001] This application relates to the field of vehicles, and in particular, to methods, vehicles, and related devices for sensor calibration. Background Art

[0002] For devices equipped with sensors, external parameter calibration of the sensors generally needs to be performed. For example, the results of external parameter calibration of sensors in vehicles (especially autonomous vehicles) will directly affect the performance of perception, positioning, path planning, and intelligent driving decision-making. Therefore, in order to ensure the accuracy and reliability of sensor data during the use of devices equipped with sensors, a sensor calibration process needs to be implemented before the devices leave the factory.

[0003] Calibration of sensors is usually carried out in a calibration room. It is necessary to pre-lay targets for external parameter calibration of sensors in the calibration room. For example, targets with fixed positions for external parameter calibration of laser sensors, vision sensors, millimeter-wave sensors, etc. After the device equipped with sensors enters the calibration room, the sensors can perform feature extraction and recognition on the targets, obtain the positions of the targets through algorithms, and then the device can perform optimization and solution on the positions of the targets recognized by the sensors and the pre-determined target positions to obtain external parameters, thereby completing the external parameter calibration of the sensors.

[0004] However, for this sensor calibration method, the degree of customization of the device model (such as vehicle model) is high, and devices of the same device model can only be calibrated in the corresponding calibration room, with poor versatility. Summary of the Invention

[0005] This application provides methods, vehicles, and related devices for sensor calibration, aiming to improve the versatility of external parameter calibration of sensors.

[0006] In a first aspect, this application provides a method for sensor calibration. This method is applied to a host computer. This method can be executed by the host computer, or it can also be executed by components (such as chips, chip systems, etc.) configured in the host computer, or it can also be implemented by a logic module or software that can implement all or part of the functions of the host computer. This application does not make any limitations in this regard.

[0007] Exemplarily, the method includes: obtaining the device model of a target device, where the target device is equipped with sensors; determining a target target position based on the device model of the target device and a pre-stored first correspondence relationship, the first correspondence relationship including the correspondence relationship between multiple device models and multiple target positions, and the target target position being the target position corresponding to the device model of the target device; controlling the target to move to the target target position; and sending a start instruction to the target device, the start instruction being used to indicate starting the external parameter calibration of the sensors.

[0008] In the solution provided by this application, the first correspondence relationship may include the correspondence relationship between multiple device models and multiple target positions. The host computer in the calibration room may determine the target position corresponding to the device model of the target device according to this first correspondence relationship, and move the target to the corresponding position, so as to facilitate the target device to perform external parameter calibration on the sensor based on the corresponding target position. Therefore, a calibration room is not limited to calibrating the external parameters of a device of one device model, but can calibrate the external parameters of devices of different device models, having high versatility.

[0009] Combined with the first aspect, in some possible implementation manners, obtaining the device model of the target device includes: sending a request message to the target device, where the request message is used to request to obtain the device model of the target device; receiving a feedback message from the target device, where the feedback message carries the device model of the target device.

[0010] Combined with the first aspect, in some possible implementation manners, the request message carries a target calibration room type identifier, and the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located.

[0011] Combined with the first aspect, in some possible implementation manners, the start instruction carries a target calibration room type identifier, and the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located.

[0012] Combined with the first aspect, in some possible implementation manners, the start instruction carries a target calibration algorithm identifier.

[0013] Combined with the first aspect, in some possible implementation manners, before sending the start instruction to the target device, the method further includes: determining the target calibration algorithm identifier based on the device model of the target device, the target calibration room type identifier, and a pre-stored second correspondence relationship, where the second correspondence relationship includes the correspondence relationship between multiple device models, multiple calibration room type identifiers, and multiple calibration algorithm identifiers, and the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located; generating the start instruction based on the target calibration algorithm identifier.

[0014] Combined with the first aspect, in some possible implementation manners, after obtaining the device model of the target device, the method further includes: determining whether the target device has entered the wrong calibration room based on the device model of the target device.

[0015] Optionally, determining whether the target device has entered the wrong calibration room based on the model of the target device includes: matching the model of the target device with multiple pre-stored target models, where the target model is the model of the device in the calibration room where the host computer is located and for which external parameter calibration of the sensor can be performed; in the case of successful matching, determining that the target device has not entered the wrong calibration room; or, in the case of failed matching, determining that the target device has entered the wrong calibration room.

[0016] In combination with the first aspect, in some possible implementation manners, the method further includes: when the target device enters the wrong calibration room, performing an alarm prompt.

[0017] In a second aspect, the present application provides a method for sensor calibration. The method is applied to a device configured with a sensor. The method can be executed by the device configured with the sensor, or, the method can also be executed by a component (such as a chip, a chip system, etc.) configured in the device configured with the sensor, or, it can also be implemented by a logic module or software capable of implementing all or part of the functions of the device configured with the sensor. The present application does not make any limitations in this regard.

[0018] Exemplarily, the method includes: receiving a start instruction from a host computer, where the start instruction is used to indicate starting the external parameter calibration of the sensor; determining a target calibration algorithm from multiple pre-stored calibration algorithms; based on the target calibration algorithm, performing external parameter calibration on the sensor.

[0019] Based on the above technical solution, a device configured with a sensor can pre-store multiple calibration algorithms. Different calibration algorithms are applicable to different types of calibration rooms. After receiving the start instruction, the device configured with the sensor can determine a target calibration algorithm adapted to the calibration room entered by the device from the multiple calibration algorithms, so that devices of the same model can match different types of calibration rooms for external parameter calibration of the sensor, having high versatility.

[0020] In combination with the second aspect, in some possible implementation manners, before receiving the start instruction from the host computer, the method further includes: sending a request message to the target device, where the request message is used to request to obtain the device model of the target device; receiving a feedback message from the target device, where the feedback message carries the device model of the target device.

[0021] In combination with the second aspect, in some possible implementation manners, the request message carries a target calibration room type identifier, where the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located.

[0022] In combination with the second aspect, in some possible implementation manners, the start instruction carries a target calibration room type identifier, where the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located.

[0023] In combination with the second aspect, in some possible implementation manners, determining a target calibration algorithm from a plurality of pre-stored calibration algorithms includes: determining a target calibration algorithm identifier based on the target calibration room type identifier and a pre-stored third correspondence relationship, where the third correspondence relationship includes a correspondence relationship between a plurality of calibration room type identifiers and a plurality of calibration algorithm identifiers; and determining the target calibration algorithm from the plurality of pre-stored calibration algorithms based on the target calibration algorithm identifier.

[0024] In combination with the second aspect, in some possible implementation manners, the start instruction carries the target calibration algorithm identifier.

[0025] In combination with the second aspect, in some possible implementation manners, determining a target calibration algorithm from a plurality of pre-stored calibration algorithms includes: determining the target calibration algorithm from the plurality of pre-stored calibration algorithms based on the target calibration algorithm identifier.

[0026] In combination with the second aspect, in some possible implementation manners, determining a target calibration algorithm from a plurality of pre-stored calibration algorithms includes: identifying a target identifier of a target, where the target is used for the device to perform external parameter calibration on the sensor; determining a target calibration room type identifier based on the target identifier and a pre-stored fourth correspondence relationship, where the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located, and the fourth correspondence relationship includes a correspondence relationship between a plurality of target identifiers and a plurality of calibration room type identifiers; determining a target calibration algorithm identifier based on the target calibration room type identifier and a pre-stored third correspondence relationship, where the third correspondence relationship includes a correspondence relationship between a plurality of calibration room type identifiers and a plurality of calibration algorithm identifiers; and determining the target calibration algorithm from the plurality of pre-stored calibration algorithms based on the target calibration algorithm identifier.

[0027] In combination with the second aspect, in some possible implementation manners, the method further includes: determining whether the device enters the wrong calibration room based on the target calibration room type identifier.

[0028] Optionally, determining whether the device enters the wrong calibration room based on the target calibration room type identifier includes: matching the target calibration room type identifier with a plurality of pre-stored calibration room type identifiers, where each calibration room type identifier in the plurality of calibration room type identifiers is an identifier of the type of the calibration room that the target device can enter for external parameter calibration of the sensor; determining that the device does not enter the wrong calibration room in the case of successful matching; or determining that the device enters the wrong calibration room in the case of failed matching.

[0029] In combination with the second aspect, in some possible implementation manners, the method further includes: performing an alarm prompt in the case that the device enters the wrong calibration room.

[0030] In a third aspect, the present application provides a device for sensor calibration, which can implement the methods in the above first aspect and any possible implementation manner of the first aspect, or can implement the methods in the above second aspect and any possible implementation manner of the second aspect. The device includes corresponding modules for executing the above methods. The modules included in the device can be implemented in software and / or hardware manners.

[0031] In a fourth aspect, the present application provides a device for sensor calibration, which includes a processor. The processor is coupled to a memory and can be used to execute programs in the memory to implement the methods in the above first aspect and any possible implementation manner of the first aspect, or to implement the methods in the above second aspect and any possible implementation manner of the second aspect.

[0032] Optionally, the device further includes a memory.

[0033] Optionally, the device further includes a communication interface, and the processor is coupled to the communication interface.

[0034] In a fifth aspect, the present application provides a vehicle, which includes a processor and a sensor. The processor is used to execute the functions of the device configured with the sensor in the above second aspect and any possible implementation manner of the second aspect to perform external parameter calibration on the sensor.

[0035] In a sixth aspect, the present application provides a chip system, which includes at least one processor for supporting the implementation of the functions involved in the above first aspect to the second aspect and any possible implementation manner of the first aspect to the second aspect, for example, receiving or processing the data and / or indication information involved in the above methods.

[0036] In a possible design, the chip system further includes a memory, and the memory is used to store program instructions and data. The memory is located inside or outside the processor.

[0037] The chip system can be composed of chips or can include chips and other discrete devices.

[0038] In a seventh aspect, the present application provides a readable storage medium, on which a program (which can also be called code or instruction) is stored. When the program is run by a processor, the methods in the above first aspect to the second aspect and any possible implementation manner of the first aspect to the second aspect are executed.

[0039] In an eighth aspect, the present application provides a program product, which includes a program (which can also be referred to as code or instructions). When the program is run, the methods in any one of the first aspect to the second aspect and any possible implementation manner of the first aspect to any possible implementation manner of the second aspect are executed.

[0040] It should be understood that the technical solutions of the third aspect to the eighth aspect of the present application correspond to those of the first aspect and the second aspect of the present application. The beneficial effects achieved by each aspect and the corresponding feasible implementation manners are similar and will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a schematic top view between calibrations;

[0042] Figure 2 is a schematic flow chart of the method for sensor calibration provided by an embodiment of the present application;

[0043] Figure 3 is another schematic flow chart of the method for sensor calibration provided by an embodiment of the present application;

[0044] Figure 4 is yet another schematic flow chart of the method for sensor calibration provided by an embodiment of the present application;

[0045] Figure 5 is a schematic block diagram of a device for sensor calibration provided by the present application;

[0046] Figure 6 is another schematic block diagram of a device for sensor calibration provided by the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0048] First, in the present application, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a device, system, product, or equipment that includes a series of modules, units, or components does not necessarily have to be limited to those modules, units, or components that are clearly listed, but may include other modules, units, or components that are not clearly listed or are inherent to these devices, systems, products, or equipment.

[0049] Second, in the present application, words such as "exemplarily" and "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplarily" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplarily" or "for example" is intended to present relevant concepts in a specific manner.

[0050] Third, in this application, "when...", "in the case of...", "if", and "when" all refer to the device making corresponding processing under certain objective circumstances, rather than limiting time, and it is not required that the device must have a judgment action when implemented, nor does it mean there are other limitations.

[0051] Fourth, in this application, words such as "first", "second", "third", and "fourth" are used to distinguish identical or similar items with basically the same functions and roles. For example, the first correspondence, the second correspondence, the third correspondence, and the fourth correspondence are used to distinguish different correspondences, and no limitation is imposed on their order. Those skilled in the art can understand that words such as "first", "second", "third", and "fourth" do not limit the quantity and execution order, and words such as "first", "second", "third", and "fourth" do not necessarily mean they are different.

[0052] Fifth, in this application, "preset" can be understood as predefined, defined, pre-defined, stored, pre-stored, pre-negotiated, or pre-configured, etc.

[0053] Sixth, in this application, "and / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship, but it does not exclude the case where the associated objects before and after are in a "and" relationship. The specific meaning represented can be understood in combination with the context.

[0054] Seventh, "send" and "receive" in this application represent the direction of signal transmission. For example, "the host computer sends a start instruction to the target device" can be understood as the destination of the start instruction being the target device, which can include directly sending through the air interface, and also include indirectly sending through the air interface by other units or modules. "The host computer receives a feedback message from the target device" can be understood as the source of the feedback message being the target device, which can include directly receiving from the target device through the air interface, and can also include indirectly receiving from the target device through the air interface from other units or modules. "Send" can also be understood as the "output" of the chip interface, and "receive" can also be understood as the "input" of the chip interface.

[0055] In other words, sending and receiving can be carried out between devices. For example, between the host computer and the target device; it can also be carried out within a device. For example, sending or receiving between components, modules, chips, software modules, or hardware modules within a device through a bus, trace, or interface.

[0056] Eighth, in this application, an indication includes an explicit indication (also known as a direct indication) and an implicit indication (also known as an indirect indication). Among them, explicitly indicating information A means including this information A; implicitly indicating information A means indicating information A through the correspondence between information A and information B and directly indicating information B. The correspondence between information A and information B can be predefined, pre-stored, pre-burned, or pre-configured; or it can also mean indicating information A through information B and a preset rule.

[0057] Ninth, in this application, information C is used for the determination of information D, which includes both the case where information D is determined only based on information C and the case where it is determined based on information C and other information. In addition, when information C is used for the determination of information D, there can also be an indirect determination case. For example, information D is determined based on information E, and information E is determined based on information C.

[0058] Tenth, in this application, each correspondence relationship (for example, the first correspondence relationship, the second correspondence relationship, the third correspondence relationship, and the fourth correspondence relationship) can be configured or predefined. When configuring each correspondence relationship, it is not necessarily required to configure all the correspondence relationships shown in each table. For example, in the tables in this application, the correspondence relationships shown in some rows can also not be configured. Another example is that appropriate deformation adjustments can be made based on the tables exemplified in this application, such as splitting, merging, etc. The names of the parameters shown in the titles of each table can also use other names understandable by the communication device, and the values or representation methods of its parameters can also use other values or representation methods understandable by the communication device. When implementing the above-mentioned tables, other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables, or hash maps, etc. This application does not make any restrictions on this.

[0059] To facilitate the understanding of the embodiments of this application, some technical terms or vocabularies involved in this application are briefly described below.

[0060] 1. External parameters: In this application, external parameters refer to the pose of a sensor installed on a device (such as a vehicle).

[0061] 2. Host computer: It refers to a device or equipment (including but not limited to a computer) that can directly issue control commands. In this application, the host computer is deployed in a calibration room and is used to interact with the device configured with sensors to control the device configured with sensors to perform external parameter calibration of the sensors.

[0062] Devices equipped with sensors generally require external parameter calibration of the sensors. For example, the results of the external parameter calibration of the sensors of a vehicle (especially an autonomous vehicle) will directly affect the performance of perception, positioning, path planning, and intelligent driving decision-making, etc. Therefore, in order to ensure the accuracy and reliability of sensor data during the use of devices equipped with sensors, a sensor calibration process needs to be implemented before the devices equipped with sensors leave the factory.

[0063] Figure 1 is a schematic top view of a calibration room.

[0064] Currently, a known method for sensor calibration is to pre-build and lay out a calibration room with a wall and a floor having a dense feature pattern (such as the calibration room shown in Figure 1 ), and lay out targets for the external parameter calibration of the sensors in the calibration room. For example, targets with fixed positions for the external parameter calibration of laser sensors, vision sensors, millimeter-wave sensors, etc. After the device equipped with sensors enters the calibration room and stops at the designated work station, the sensors on the device can perform feature extraction and recognition on the targets, obtain the positions of the targets through algorithms, and the device can perform an optimization solution on the positions of the targets identified by the sensors and the previously determined target positions to obtain the external parameters, thereby completing the calibration of the external parameters of the sensors. It can be understood that, as shown in Figure 1 , the features of the targets for the external parameter calibration of different types of sensors (including but not limited to shape, size, and material, etc.) can be different.

[0065] However, this method for sensor calibration has a high degree of customization for the device model (such as vehicle model). Devices of the same device model can only be calibrated in the corresponding calibration room, and the versatility is poor.

[0066] In view of the above problems, the present application provides a method for sensor calibration. The host computer in the calibration room can pre-store the correspondence between multiple device models and multiple target positions. After the device equipped with sensors enters the calibration room, the host computer can determine the corresponding target position according to the device model of the device and the above correspondence, and move the target to the corresponding position, so as to facilitate the device to perform external parameter calibration of the sensors based on the corresponding target position. In this way, a calibration room is not limited to calibrating the external parameters of sensors for devices of one device model, but can calibrate the external parameters of sensors for devices of different device models, and has high versatility.

[0067] Figure 2 is a schematic flow chart of the method for sensor calibration provided by an embodiment of the present application.

[0068] As Figure 2 shown, the method 200 may include steps 210 to 240. The following will describeFigure 2 Describe each step in detail.

[0069] In step 210, the host computer obtains the device model of the target device.

[0070] Among them, the target device is configured with sensors. That is to say, the target device is a device configured with sensors.

[0071] In the embodiments of the present application, the target device includes, but is not limited to, a vehicle. When the vehicle is the target device, the device model can be the vehicle model (which can be simply referred to as the vehicle type).

[0072] Exemplarily, after the target device enters the calibration room where the host computer is located, the host computer can establish a connection with the target device, so that the host computer can obtain the device model of the target device.

[0073] It can be understood that in the embodiments of the present application, "connection" can be "physical connection" and / or "communication connection".

[0074] In a possible implementation manner, the above step 210 may include:

[0075] Step 201, the host computer sends a request message to the target device, and the request message is used to request to obtain the device model of the target device. Correspondingly, the target device receives the request message from the host computer.

[0076] Step 202, the host computer receives a feedback message from the target device, and the feedback message carries the device model of the target device. Correspondingly, the target device sends the feedback message to the host computer.

[0077] That is to say, after the target device enters the calibration room where the host computer is located, the host computer can send a request message to the target device to request to know the model of the target device. Correspondingly, the target device can respond to the request of the host computer, carry its own device model in the feedback message and send it to the host computer, so that the host computer can know the device model of the target device.

[0078] In step 220, the host computer determines the target target position based on the device model of the target device and the pre-stored first correspondence.

[0079] Among them, the first correspondence includes the correspondence between multiple device models and multiple target positions. The target target position is the target position corresponding to the device model of the target device.

[0080] It can be understood that the target device also pre-stores the target target position and the calibration algorithm corresponding to the target target position, so that the target device can perform an optimization solution based on the target target position and the target position recognized by the sensor to obtain the final external parameters. The target target position pre-stored on the target device can also be referred to as the default configuration parameter, and this default configuration parameter is the same set of configuration parameters that have been pre-agreed with the target target position determined by the host computer.

[0081] As an example but not a limitation, Table 1 is an example of the first correspondence relationship, which includes the correspondence relationship between multiple device models and multiple target positions. For example, device model 1 corresponds to target position 1, device model 2 corresponds to target position 2, device model 3 corresponds to target position 1, device model 4 corresponds to target position 3, device model 5 corresponds to target position 3, and so on.

[0082] It can be understood that in the actual application scenario, the target position corresponding to the device model included in the first correspondence relationship can be the specific position coordinates or the position index corresponding to the specific position coordinates. Among them, the position index corresponds one-to-one with the position coordinates, and the specific position coordinates can also be determined based on the position index. This application does not make any limitations in this regard.

[0083] Table 1

[0084] Device Model Target Position Device Model 1 Target Position 1 Device Model 2 Target Position 2 Device Model 3 Target Position 1 Device Model 4 Target Position 3 Device Model 5 Target Position 3 …… ……

[0085] Exemplarily, for example, if the device model of the target device is device model 1, the host computer can determine from the first correspondence relationship that the target position corresponding to device model 1 is target position 1, that is, the host computer can determine that the target target position is target position 1.

[0086] In step 230, the host computer controls the target to move to the target target position.

[0087] Exemplarily, the host computer can control the device (such as a robotic arm) connected to the target that executes the movement of the target position to move the target to the target target position.

[0088] As an example but not a limitation, as Figure 2 shown, the host computer can send the target target position to the device that executes the movement of the target position to instruct the device that executes the movement of the target position to move the target to the target target position; after the target moves to the target target position, the host computer can receive the completion movement message from the device that executes the movement of the target position, and this completion movement message can be used to inform the host computer that the movement of the target has been completed.

[0089] Among them, the device for executing the movement of the target position includes but is not limited to a robotic arm. It can be understood that the host computer and the device for moving the target position can be physically connected or communicatively connected. This application does not make any limitations in this regard.

[0090] In step 240, the host computer sends a start instruction to the target device, and the start instruction is used to indicate starting the external parameter calibration of the sensor. Correspondingly, the target device receives the start instruction from the host computer.

[0091] After the control target is moved to the target target position, the host computer can send a start instruction to the target device to instruct the target device to start the external parameter calibration of the sensor. Correspondingly, after receiving the start instruction, the target device can load the pre-stored target target position and the calibration algorithm corresponding to the target target position to perform the external parameter calibration of the sensor.

[0092] It can be understood that the host computer is connected to the target device. In an actual application scenario, during the process of the target device performing the external parameter calibration of the sensor, the host computer can display the calibration progress in real time through a display screen. By way of example and not limitation, for example, a calibration system is deployed on the target device, and the target device can use the calibration system to send a signal to a diagnostic instrument. After receiving the signal, the diagnostic instrument can transmit the signal to the display screen on the host computer or the display screen connected to the host computer to display the calibration progress in real time through the display screen. It should be understood that the diagnostic instrument can be understood as a connection line or a data transmission line. For example, the diagnostic instrument can be deployed on the host computer and used to connect to the target device; or one end of the diagnostic instrument is connected to the host computer and the other end is connected to the target device. This application does not make any limitations in this regard.

[0093] In addition, in an actual application scenario, after the target device completes the external parameter calibration of the sensor, the target device can use the calibration system to send the calibration result to the diagnostic instrument, and then the diagnostic instrument transmits the calibration result to the output module deployed on the host computer or the output device connected to the host computer, and then the output module or the output device prints out the calibration result so that the corresponding staff can make corresponding processing. This application does not make any limitations in this regard.

[0094] In a possible implementation manner, after obtaining the device model of the target device, the method 200 further includes: judging whether the target device enters the wrong calibration room based on the device model of the target device.

[0095] That is to say, after the above step 210, the host computer can judge whether the target device enters the wrong calibration room based on the device model of the target device.

[0096] In a possible implementation, determining whether the target device has entered the wrong calibration room based on the model of the target device includes: matching the model of the target device with multiple pre-stored target models, where the target model is the model of the device for which the external parameters of the sensor can be calibrated in the calibration room where the host computer is located; in the case of successful matching, determining that the target device has not entered the wrong calibration room; or, in the case of failed matching, determining that the target device has entered the wrong calibration room.

[0097] It can be understood that one or more device models can be pre-stored on the host computer. Based on the one or more device models, the host computer can know that the devices corresponding to the one or more device models can calibrate the external parameters of the sensor in the calibration room where the host computer is located. In the case where the device model of the target device obtained by the host computer is not any of the one or more device models stored by the host computer, the host computer can determine that the target device has entered the wrong calibration room; in the case where the device model of the target device obtained by the host computer is any of the one or more device models stored by the host computer, the host computer can determine that the target device has not entered the wrong calibration room.

[0098] As an example rather than a limitation, for example, device model 1, device model 2, device model 3, device model 4, and device model 5 are pre-stored on the host computer. In the case where the device model obtained by the host computer from the target device is device model 6, the host computer can determine that the target device has entered the wrong calibration room; in the case where the device model obtained by the host computer from the target device is any one of device model 1, device model 2, device model 3, device model 4, and device model 5, the host computer can determine that the target device has not entered the wrong calibration room.

[0099] Optionally, the method 200 further includes: performing an alarm prompt in the case where the target device has entered the wrong calibration room.

[0100] In this implementation, in the case where the host computer determines that the target device has entered the wrong calibration room, the host computer can perform an alarm prompt to remind the staff that the target device has entered the wrong calibration room.

[0101] It can be understood that in the actual application scenario, the alarm prompt can include but is not limited to: displaying the alarm content through a display screen, and / or, performing the alarm prompt by means of voice prompt, etc.

[0102] Optionally, the above request message carries a target calibration room type identifier, and the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located.

[0103] One or more calibration room type identifiers may be pre-stored on the target device. Based on the one or more calibration room type identifiers, the target device can know that the target device can perform external parameter calibration on the sensor in the calibration room corresponding to the one or more calibration room type identifiers. When the host computer requests to obtain the device model of the target device, the host computer can inform the target device of the identifier of the type of the calibration room where the host computer is located (i.e., the target calibration room type identifier), so that the target device can determine whether the target device has entered the wrong calibration room.

[0104] As an example but not a limitation, for example, calibration room type identifier 1 and calibration room type identifier 2 are pre-stored on the target device. When the target calibration room type identifier carried in the above request message is calibration room type identifier 3, the target device can determine that the target device has entered the wrong calibration room; when the target calibration room type identifier carried in the above request message is any one of calibration room type identifier 1 and calibration room type identifier 2, the target device can determine that the target device has not entered the wrong calibration room.

[0105] Optionally, the above start instruction carries a target calibration room type identifier, and the target calibration room type identifier is the identifier of the type of the calibration room where the host computer is located.

[0106] One or more calibration room type identifiers may be pre-stored on the target device. Based on the one or more calibration room type identifiers, the target device can know that the target device can perform external parameter calibration on the sensor in the calibration room corresponding to the one or more calibration room type identifiers. When the host computer instructs the target device to start the external parameter calibration of the sensor, the host computer can inform the target device of the identifier of the type of the calibration room where the host computer is located (i.e., the target calibration room type identifier), so that the target device can determine whether the target device has entered the wrong calibration room.

[0107] As an example but not a limitation, for example, calibration room type identifier 1 and calibration room type identifier 2 are pre-stored on the target device. When the target calibration room type identifier carried in the above start instruction is calibration room type identifier 3, the target device can determine that the target device has entered the wrong calibration room; when the target calibration room type identifier carried in the above start instruction is any one of calibration room type identifier 1 and calibration room type identifier 2, the target device can determine that the target device has not entered the wrong calibration room.

[0108] Optionally, the start instruction carries a target calibration algorithm identifier.

[0109] The host computer can carry the target calibration algorithm in the start instruction to instruct the target device to perform external parameter calibration on the sensor based on the calibration algorithm corresponding to the target calibration algorithm.

[0110] Optionally, before sending the start instruction to the target device, the method 200 further includes: determining the target calibration algorithm identifier based on the device model of the target device, the target calibration room type identifier, and a pre-stored second correspondence relationship, where the second correspondence relationship includes the correspondence relationships between multiple device models, multiple calibration room type identifiers, and multiple calibration algorithm identifiers, and the target calibration room type identifier is the identifier of the type of the calibration room where the host computer is located; generating the start instruction based on the target calibration algorithm identifier.

[0111] Before the host computer sends the start instruction to the target device, the host computer needs to first determine the target calibration algorithm identifier, and then generate the start instruction based on the target calibration algorithm identifier.

[0112] As an example but not a limitation, Table 2 is an example of the second correspondence relationship, which includes the correspondence relationships between multiple device models, multiple calibration room type identifiers, and multiple calibration algorithm identifiers. For example, the correspondence relationship between device model 1, calibration room type identifier 1, and calibration algorithm identifier 1; the correspondence relationship between device model 1, calibration room type identifier 2, and calibration algorithm identifier 2; the correspondence relationship between device model 2, calibration room type identifier 1, and calibration algorithm identifier 1; the correspondence relationship between device model 2, calibration room type identifier 3, and calibration algorithm identifier 3; the correspondence relationship between device model 3, calibration room type identifier 3, and calibration algorithm identifier 3; and so on.

[0113] Table 2

[0114] Device Model Calibration Room Type Identifier Calibration Algorithm Identifier Device Model 1 Calibration Room Type Identifier 1 Calibration Algorithm Identifier 1 Device Model 1 Calibration Room Type Identifier 2 Calibration Algorithm Identifier 2 Device Model 2 Calibration Room Type Identifier 1 Calibration Algorithm Identifier 1 Device Model 2 Calibration Room Type Identifier 3 Calibration Algorithm Identifier 3 Device Model 3 Calibration Room Type Identifier 3 Calibration Algorithm Identifier 3 …… …… ……

[0115] It can be understood that the host computer knows in advance which type of calibration room it is located in, that is, the host computer knows the target calibration room type identifier in advance. Exemplarily, for example, the target calibration room type identifier is target calibration room type identifier 1, and the device model obtained by the host computer from the target device is device model 1, then the host computer can determine from the second correspondence relationship the calibration algorithm identifier corresponding to device model 1 and target calibration room type identifier 1 as calibration algorithm identifier 1, that is, the host computer can determine that the target calibration algorithm identifier is target calibration algorithm identifier 1.

[0116] Based on the above technical solution, first, the first correspondence relationship can include the correspondence relationship between multiple device models and multiple target positions. The host computer in the calibration room can determine the target position corresponding to the device model of the target device according to the first correspondence relationship, and move the target to the corresponding position, so that the target device can perform external parameter calibration on the sensor based on the corresponding target position. Therefore, a calibration room is not limited to calibrating the external parameters of sensors for devices of one device model, but can calibrate the external parameters of sensors for devices of different device models, having high versatility. Furthermore, the target device can pre-store multiple calibration algorithms. Different calibration algorithms are applicable to different types of calibration rooms. The host computer in the calibration room can determine the identifier of the calibration algorithm applicable to the target device in this calibration room according to the device model of the target device and the calibration room type identifier of the calibration room where the host computer is located, so that the target device can perform external parameter calibration on the sensor based on the corresponding target position and calibration algorithm. Therefore, devices of the same model can match different types of calibration rooms for external parameter calibration of sensors, having high versatility.

[0117] Figure 3 It is another schematic flowchart of the method for sensor calibration provided by the embodiments of the present application.

[0118] As Figure 3 shown, the method 300 may include steps 310 to 330. The following will make a detailed description of Figure 3 each step therein.

[0119] In step 310, the device configured with a sensor receives a start instruction from the host computer, and this start instruction is used to indicate starting the external parameter calibration of the sensor. Correspondingly, the host computer sends a start instruction to the device configured with the sensor.

[0120] Optionally, before receiving the start instruction from the host computer, the method 300 further includes:

[0121] Step 301, the host computer obtains the device model of the device configured with the sensor.

[0122] It can be understood that this step 301 is similar to step 210 in the above method 200. For a detailed description of step 301, reference can be made to the relevant description of step 210 in the above method 200. For the sake of brevity, it will not be elaborated here.

[0123] In a possible implementation manner, this step 301 includes:

[0124] Step 3011, the device configured with the sensor receives a request message from the host computer, and this request message is used to request to obtain the device model of the device. Correspondingly, the host computer sends this request message to the device configured with the sensor.

[0125] Step 3012: The device equipped with sensors sends a feedback message to the host computer, and the feedback message carries the device model of the device. Correspondingly, the host computer receives the feedback message from the device equipped with sensors.

[0126] It can be understood that step 3011 is similar to step 201 in the above method 200, and step 3012 is similar to step 202 in the above method 200. For the detailed description of step 3011, reference can be made to the relevant description of step 201 in the above method 200, and for the detailed description of step 3012, reference can be made to the relevant description of step 202 in the above method 200. For the sake of brevity, it will not be elaborated here. Optionally, the start instruction carries a target calibration algorithm identifier.

[0127] The host computer can carry the target calibration algorithm in the start instruction to instruct the device equipped with sensors to perform external parameter calibration on the sensors based on the calibration algorithm corresponding to the target calibration algorithm.

[0128] Before the host computer sends the start instruction carrying the target calibration algorithm identifier to the target device, it can first generate the start instruction carrying the target calibration algorithm identifier. For the detailed description of the host computer generating the start instruction carrying the target calibration algorithm identifier, reference can be made to the relevant description in the above method 200. For the sake of brevity, it will not be elaborated here.

[0129] In step 320, a target calibration algorithm is determined from multiple pre-stored calibration algorithms.

[0130] In a possible implementation manner, determining a target calibration algorithm from multiple pre-stored calibration algorithms includes: determining a target calibration algorithm from multiple pre-stored calibration algorithms based on the target calibration algorithm identifier.

[0131] In this implementation manner, multiple calibration algorithms can be pre-stored on the device equipped with sensors, and each calibration algorithm in the multiple calibration algorithms has its own calibration algorithm identifier, and the calibration algorithm identifiers of different calibration algorithms are different. Thus, after the device equipped with sensors learns the target calibration algorithm identifier, it can determine the calibration algorithm corresponding to the target calibration algorithm identifier from the pre-stored multiple calibration algorithms, that is, it can determine the target calibration algorithm from the pre-stored multiple calibration algorithms.

[0132] It can be understood that in this implementation manner, the target calibration algorithm identifier can be obtained based on the start instruction. That is to say, in this implementation manner, the start instruction carries the target calibration algorithm identifier. After receiving this start instruction, the device configured with the sensor can obtain the target calibration algorithm identifier. Furthermore, based on this target calibration algorithm identifier, the target calibration algorithm can be determined from multiple pre-stored calibration algorithms.

[0133] In another possible implementation manner, determining the target calibration algorithm from multiple pre-stored calibration algorithms includes: determining the target calibration algorithm identifier based on the target calibration interval type identifier and the pre-stored third correspondence relationship, where the third correspondence relationship includes the correspondence relationship between multiple calibration interval type identifiers and multiple calibration algorithm identifiers; and determining the target calibration algorithm from multiple pre-stored calibration algorithms based on this target calibration algorithm identifier.

[0134] In this implementation manner, the device configured with the sensor can pre-store multiple calibration algorithms and the third correspondence relationship in advance, and the third correspondence relationship can include the correspondence relationship between multiple calibration interval type identifiers and multiple calibration algorithm identifiers.

[0135] As an example but not a limitation, Table 3 is an example of the third correspondence relationship, which includes the correspondence relationship between multiple calibration interval type identifiers and multiple calibration algorithm identifiers. For example, the correspondence relationship between calibration interval type identifier 1 and calibration algorithm identifier 1; the correspondence relationship between calibration interval type identifier 2 and calibration algorithm identifier 2; the correspondence relationship between calibration interval type identifier 3 and calibration algorithm identifier 3; and so on.

[0136] Table 3

[0137] Calibration Room Type Identifier Calibration Algorithm Identifier Calibration Room Type Identifier 1 Calibration Algorithm Identifier 1 Calibration Room Type Identifier 2 Calibration Algorithm Identifier 2 Calibration Room Type Identifier 3 Calibration Algorithm Identifier 3 …… ……

[0138] Exemplarily, when the type identifier of the target calibration interval is calibration interval type identifier 1, the device configured with the sensor can determine that the target calibration algorithm identifier is calibration algorithm identifier 1 based on this target calibration interval type identifier 1 and the third correspondence relationship shown in Table 3, and can determine the target calibration algorithm from multiple pre-stored calibration algorithms based on this target calibration algorithm identifier.

[0139] Optionally, in this implementation manner, the type identifier of the target calibration interval can be obtained based on the start instruction. That is to say, in this implementation manner, the start instruction carries the type identifier of the target calibration interval. After receiving this start instruction, the device configured with the sensor can obtain the type identifier of the target calibration interval. Furthermore, based on this type identifier of the target calibration interval and this third correspondence relationship, the target calibration algorithm can be determined from multiple pre-stored calibration algorithms.

[0140] Optionally, in this implementation, the type identifier of the target calibration room can be obtained based on the request message. That is to say, in this implementation, the request message carries the type identifier of the target calibration room. After receiving the start request message, the device configured with the sensor can obtain the type identifier of the target calibration room. Furthermore, based on the type identifier of the target calibration room and the third corresponding relationship, the target calibration algorithm is determined from multiple pre-stored calibration algorithms.

[0141] Figure 4 It is another schematic flowchart of the method for sensor calibration provided by the embodiments of the present application.

[0142] As Figure 4 shown, in another possible implementation, step 320 above includes:

[0143] Step 3201, identify the target identifier of the target, which is used for the device to perform external parameter calibration on the sensor;

[0144] Step 3202, based on the target identifier and the pre-stored fourth corresponding relationship, determine the type identifier of the target calibration room, where the type identifier of the target calibration room is the identifier of the type of the calibration room where the host computer is located, and the fourth corresponding relationship includes the corresponding relationship between multiple target identifiers and multiple calibration room type identifiers;

[0145] Step 3203, based on the type identifier of the target calibration room and the pre-stored third corresponding relationship, determine the target calibration algorithm identifier, where the third corresponding relationship includes the corresponding relationship between multiple calibration room type identifiers and multiple calibration algorithm identifiers;

[0146] Step 3204, based on the target calibration algorithm identifier, determine the target calibration algorithm from multiple pre-stored calibration algorithms.

[0147] In this implementation, the device configured with the sensor can pre-store multiple calibration algorithms, the third corresponding relationship, and the fourth corresponding relationship. The fourth corresponding relationship can include the corresponding relationship between multiple target identifiers and multiple calibration room type identifiers. For a detailed description of the third corresponding relationship, reference can be made to the description related to Table 3 above. For the sake of brevity, it will not be elaborated here.

[0148] As an example rather than a limitation, Table 4 is an example of the fourth corresponding relationship. The fourth corresponding relationship can include the corresponding relationship between multiple target identifiers and multiple calibration room type identifiers. For example, the corresponding relationship between target identifier 1 and calibration room type identifier 1; the corresponding relationship between target identifier 2 and calibration room type identifier 1; the corresponding relationship between target identifier 3 and calibration room type identifier 2; the corresponding relationship between target identifier 4 and calibration room type identifier 3; the corresponding relationship between target identifier 5 and calibration room type identifier 3; the corresponding relationship between target identifier 6 and calibration room type identifier 3; and so on.

[0149] Table 4

[0150]

[0151]

[0152] Exemplarily, if the target identifier recognized by the device equipped with the sensor is target identifier 2, then the device equipped with the sensor can determine that the target calibration room type identifier is calibration room type identifier 1 based on the target identifier 2 and the fourth corresponding relationship shown in Table 4. That is to say, currently the device equipped with the sensor is in the calibration room with the calibration room type identifier being calibration room type identifier 1. Further, the device equipped with the sensor can determine that the target calibration algorithm identifier is calibration algorithm identifier 1 based on the target calibration room type identifier 1 and the third corresponding relationship shown in Table 3. Thus, based on the target calibration algorithm identifier, the target calibration algorithm can be determined from multiple pre-stored calibration algorithms.

[0153] It should be noted that Figure 4 step 301 in Figure 3 is the same as step 301 shown in Figure 4 step 302 in Figure 3 is the same as step 302 shown in Figure 4 step 303 in Figure 3 is the same as step 303 shown in Figure 4 step 310 in Figure 3 is the same as step 310 shown in Figure 4 step 330 in Figure 3 is the same as step 330 shown in Figure 4 For the descriptions of step 301, step 302, step 303, step 310, and step 330 shown in Figure 3 reference can be made to the relevant descriptions in

[0154] For the sake of brevity, no further elaboration is provided here.

[0155] Exemplarily, after the device equipped with the sensor determines the target calibration algorithm, it can load the target calibration algorithm and the target position corresponding to the target calibration algorithm to perform external parameter calibration on the sensor.

[0156] Optionally, the method 300 further includes: determining whether the device enters the wrong calibration room based on the target calibration room type identifier.

[0157] In a possible implementation, determining whether the device has entered the wrong calibration room based on the target calibration room type identifier includes: matching the target calibration room type identifier with a plurality of pre-stored calibration room type identifiers, where each calibration room type identifier in the plurality of calibration room type identifiers is an identifier of the type of calibration room that the target device can enter for external parameter calibration of the sensor; in the case of successful matching, determining that the device has not entered the wrong calibration room; or, in the case of failed matching, determining that the device has entered the wrong calibration room.

[0158] In this implementation, a device configured with a sensor can pre-store one or more calibration room type identifiers. Based on the one or more calibration room type identifiers, the device configured with the sensor can know that the device can perform external parameter calibration of the sensor in the calibration room corresponding to the one or more calibration room type identifiers.

[0159] Optionally, the above request message carries a target calibration room type identifier, which is an identifier of the type of calibration room where the host computer is located.

[0160] The host computer can, when requesting to obtain the device model of the device, inform the device of the identifier of the type of calibration room where the host computer is located (i.e., the target calibration room type identifier), so that the device can determine whether the device has entered the wrong calibration room based on the target calibration room type identifier.

[0161] By way of example and not limitation, for example, a device configured with a sensor pre-stores calibration room type identifier 1 and calibration room type identifier 2. In the case where the target calibration room type identifier carried in the above request message is calibration room type identifier 3, the device can determine that the device has entered the wrong calibration room; in the case where the target calibration room type identifier carried in the above request message is any one of calibration room type identifier 1 and calibration room type identifier 2, the device can determine that the device has not entered the wrong calibration room.

[0162] Optionally, the above start instruction carries a target calibration room type identifier, which is an identifier of the type of calibration room where the host computer is located.

[0163] The host computer can, when instructing the device to start external parameter calibration of the sensor, inform the device of the identifier of the type of calibration room where the host computer is located (i.e., the target calibration room type identifier), so that the device can determine whether the device has entered the wrong calibration room based on the target calibration room type identifier.

[0164] By way of example and not limitation, for example, a device configured with a sensor pre-stores a calibration room type identifier 1 and a calibration room type identifier 2. In the case where the target calibration room type identifier carried in the above start instruction is the calibration room type identifier 3, the device can determine that the device has entered the wrong calibration room; in the case where the target calibration room type identifier carried in the above start instruction is any one of the calibration room type identifier 1 and the calibration room type identifier 2, the device can determine that the device has not entered the wrong calibration room.

[0165] Optionally, the method 300 further includes: when the device enters the wrong calibration room, performing an alarm prompt.

[0166] When the device configured with the sensor enters the wrong calibration room, the device configured with the sensor can perform an alarm prompt to remind the staff that the target device has entered the wrong calibration room.

[0167] It can be understood that in an actual application scenario, the alarm prompt may include but is not limited to: displaying alarm content through a display screen, and / or, performing an alarm prompt by means of voice prompt, etc.

[0168] Optionally, in an actual application scenario, when the device configured with the sensor enters the wrong calibration room, the device configured with the sensor can also send an alarm message to the host computer, and the host computer performs the alarm prompt. The alarm message is used to instruct the host computer to perform the alarm prompt. The present application does not make any limitation in this regard.

[0169] It can be understood that as Figure 3 and Figure 4 shown, in the method 300, the host computer connected to the device configured with the sensor can also execute the steps 302 and 303 shown in Figure 3 or Figure 4 . The present application does not make any limitation in this regard. For a detailed description of step 302, reference can be made to the relevant description of step 220 in the above method 200; for a detailed description of step 303, reference can be made to the relevant description of step 230 in the above method 200. For the sake of brevity, it will not be repeated here.

[0170] It can be understood that the host computer is connected to the device configured with sensors. In an actual application scenario, during the process of the device configured with sensors performing external parameter calibration on the sensors, the host computer can display the calibration progress in real time through a display screen. As an example rather than a limitation, for instance, a calibration system is deployed on the device configured with sensors, and the device configured with sensors can use this calibration system to send a signal to a diagnostic instrument. After receiving this signal, the diagnostic instrument can transmit this signal to the display screen on the host computer or the display screen connected to the host computer to display the calibration progress in real time through this display screen. It should be understood that the diagnostic instrument can be understood as a connection line or a data transmission line. For example, the diagnostic instrument can be a line deployed on the host computer for connecting to a target device; or, it can also be understood that one end of the diagnostic instrument is connected to the host computer and the other end is connected to the target device. This application does not make any limitations in this regard.

[0171] In addition, in an actual application scenario, after the device configured with sensors completes the external parameter calibration of the sensors, the device configured with sensors can use the calibration system to send the calibration result to the diagnostic instrument, and then the diagnostic instrument transmits the calibration result to the output module deployed on the host computer or the output device connected to the host computer, and then the output module or the output device prints out the calibration result to facilitate corresponding staff to make corresponding processing. This application does not make any limitations in this regard.

[0172] Based on the above technical solution, the device configured with sensors can pre-store multiple calibration algorithms. Different calibration algorithms are applicable to different types of calibration rooms. After receiving a start instruction, the device configured with sensors can determine a target calibration algorithm adapted to the calibration room entered by the device from the multiple calibration algorithms, so that devices of the same model can match different types of calibration rooms for the external parameter calibration of sensors, having high versatility.

[0173] Figure 5 It is a schematic block diagram of a device for sensor calibration provided by this application.

[0174] As Figure 5 shown, the device 500 may include: a processing module 510 and a transceiver module 520. The device 500 can be used to execute the execution steps of the host computer or the device configured with sensors in the method for sensor calibration proposed in the embodiments of this application.

[0175] Exemplarily, when the device 500 is used to execute the execution step of the host computer in the method 200, the transceiver module 520 can be used to obtain the device model of the target device, and the target device is configured with a sensor; the processing module 510 can be used to determine the target target position based on the device model of the target device and a pre-stored first correspondence relationship, where the first correspondence relationship includes the correspondence relationships between multiple device models and multiple target positions, and the target target position is the target position corresponding to the device model of the target device; control the target to move to the target target position; the transceiver module 520 can also be used to send a start instruction to the target device, and the start instruction is used to indicate to start the external parameter calibration of the sensor.

[0176] Optionally, the transceiver module 520 can specifically be used to: send a request message to the target device, and the request message is used to request to obtain the device model of the target device; receive a feedback message from the target device, and the feedback message carries the device model of the target device.

[0177] Optionally, the request message carries a target calibration room type identifier, and the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located.

[0178] Optionally, the start instruction carries a target calibration room type identifier, and the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located.

[0179] Optionally, the start instruction carries a target calibration algorithm identifier.

[0180] Optionally, the processing module 510 can also be used to: determine the target calibration algorithm identifier based on the device model of the target device, the target calibration room type identifier, and a pre-stored second correspondence relationship, where the second correspondence relationship includes the correspondence relationships between multiple device models, multiple calibration room type identifiers, and multiple calibration algorithm identifiers, and the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located; generate the start instruction based on the target calibration algorithm identifier.

[0181] Optionally, the processing module 510 can also be used to: determine whether the target device has entered the wrong calibration room based on the device model of the target device.

[0182] Optionally, the processing module 510 can also be used to: give an alarm prompt in the case where the target device has entered the wrong calibration room.

[0183] Exemplarily, when the device 500 is used to execute the execution step of the sensor-configured device in the method 300, the transceiver module 520 can be used to receive a start instruction from the host computer, where the start instruction is used to indicate starting the external parameter calibration of the sensor; the processing module 510 can be used to determine a target calibration algorithm from a plurality of pre-stored calibration algorithms; and based on the target calibration algorithm, perform external parameter calibration on the sensor.

[0184] Optionally, the transceiver module 520 can also be used to: receive a request message from the host computer, where the request message is used to request to obtain the device model of the device; and send a feedback message to the host computer, where the feedback message carries the device model of the device.

[0185] Optionally, the request message carries a target calibration room type identifier, where the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located.

[0186] Optionally, the start instruction carries a target calibration room type identifier, where the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located.

[0187] Optionally, the processing module 510 can specifically be used to: determine a target calibration algorithm identifier based on the target calibration room type identifier and a pre-stored third correspondence relationship, where the third correspondence relationship includes a correspondence relationship between a plurality of calibration room type identifiers and a plurality of calibration algorithm identifiers; and determine a target calibration algorithm from a plurality of pre-stored calibration algorithms based on the target calibration algorithm identifier.

[0188] Optionally, the start instruction carries a target calibration algorithm identifier.

[0189] Optionally, the processing module 510 can specifically be used to: determine a target calibration algorithm from a plurality of pre-stored calibration algorithms based on the target calibration algorithm identifier.

[0190] Optionally, the processing module 510 can specifically be used to: identify the target identifier of the target, where the target is used for the device to perform external parameter calibration on the sensor; determine a target calibration room type identifier based on the target identifier and a pre-stored fourth correspondence relationship, where the target calibration room type identifier is an identifier of the type of the calibration room where the host computer is located, and the fourth correspondence relationship includes a correspondence relationship between a plurality of target identifiers and a plurality of calibration room type identifiers; determine a target calibration algorithm identifier based on the target calibration room type identifier and a pre-stored third correspondence relationship, where the third correspondence relationship includes a correspondence relationship between a plurality of calibration room type identifiers and a plurality of calibration algorithm identifiers; and determine a target calibration algorithm from a plurality of pre-stored calibration algorithms based on the target calibration algorithm identifier.

[0191] Optionally, the processing module 510 can also be used to: determine whether the device has entered the wrong calibration room based on the target calibration room type identifier.

[0192] Optionally, the processing module 510 may also be configured to: give an alarm prompt when the device enters the wrong calibration room.

[0193] Figure 6 It is another schematic block diagram of the device for sensor calibration provided by the present application.

[0194] The device 600 can be used to implement the functions of the host computer or the device equipped with sensors in the above method. The device 600 may be a chip system. In the embodiments of the present application, the chip system may be composed of chips, or may include chips and other discrete devices.

[0195] Such as Figure 6 As shown, the device 600 may include at least one processor 610, which is used to implement the functions of the host computer or the device equipped with sensors in the method provided by the embodiments of the present application.

[0196] For example, when the device 600 is used to implement the function of the host computer in the method 200 provided by the embodiments of the present application, the processor 610 may be configured to: obtain the device model of the target device, where the target device is equipped with sensors; based on the device model of the target device and the pre-stored first correspondence, determine the target target position, the first correspondence includes the correspondence between multiple device models and multiple target positions, and the target target position is the target position corresponding to the device model of the target device; control the target to move to the target target position; send a start instruction to the target device, and the start instruction is used to indicate starting the external parameter calibration of the sensor. For the specific details, please refer to the detailed description in the method example, which will not be elaborated here.

[0197] Again, for example, when the device 600 is used to implement the function of the device equipped with sensors in the method 300 provided by the embodiments of the present application, the processor 610 may be configured to: receive a start instruction from the host computer, and the start instruction is used to indicate starting the external parameter calibration of the sensor; determine a target calibration algorithm from multiple pre-stored calibration algorithms; based on the target calibration algorithm, perform external parameter calibration on the sensor. For the specific details, please refer to the detailed description in the method example, which will not be elaborated here.

[0198] The device 600 may further include at least one memory 620, which is used to store program instructions and / or data. The memory 620 and the processor 610 are coupled. The coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units or modules, and may be electrical, mechanical or other forms, and is used for information interaction between devices, units or modules. The processor 610 may cooperate with the memory 620. The processor 610 may execute the program instructions stored in the memory 620. At least one of the at least one memories may be included in the processor.

[0199] The device 600 may further include a communication interface 630 for communicating with other devices via a transmission medium, so that the device 600 can communicate with other devices. Exemplarily, when the device 600 is used to implement the function of the host computer in the method 200 provided in the embodiments of the present application, the other device may be a target device; when the device 600 is used to implement the function of the device configured with sensors in the method 300 provided in the embodiments of the present application, the other device may be a host computer. The communication interface 630 may be, for example, a transceiver, an interface, a bus, a circuit, or a device capable of implementing a transceiver function. The processor 610 may use the communication interface 630 to send and receive data and / or information, and is used to implement Figures 2 to 4 the steps performed by the host computer described in the corresponding embodiments in Figure 2 or is used to implement Figure 3 or Figure 4 the steps performed by the device configured with sensors described in the corresponding embodiments in

[0200] In the embodiments of the present application, the specific connection medium between the above-mentioned processor 610, memory 620, and communication interface 630 is not limited. In the embodiments of the present application Figure 6 the processor 610, memory 620, and communication interface 630 are connected through a bus 640. The bus 640 is represented by a thick line in Figure 6 The connection manners between other components are only for illustrative purposes and are not to be construed as limitations. The bus may be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 6 only one thick line is used to represent it in

[0201] The present application also provides a vehicle, which includes a processor and sensors. The processor is used to execute Figure 2 the steps performed by the target device described in the corresponding embodiments in Figure 3 or Figure 4 the steps performed by the device configured with sensors described in the corresponding embodiments in

[0202] The present application also provides a chip system, which includes at least one processor for implementing the functions involved in the steps performed by the host computer in the embodiments shown above Figures 2 to 4 or for implementing the functions involved in the steps performed by the target device in the embodiments shown above Figure 2 or for implementing the functions involved in the steps performed by the device configured with sensors in the embodiments shown above Figure 3 or Figure 4In the embodiments shown, the functions involved in the steps performed by the device configured with sensors, for example, receiving and / or processing the data and / or information involved in the above methods.

[0203] In a possible design, the chip system further includes a memory for storing program instructions and data, and the memory is located inside or outside the processor.

[0204] The chip system may be composed of chips or may include chips and other discrete devices.

[0205] Embodiments of this application also provide a readable storage medium with a program stored thereon. When the program is run, Figure 2 the method performed by the host computer in the embodiments shown is executed, or the method performed by the target device is executed; or, Figure 3 or Figure 4 the method performed by the device configured with sensors in the embodiments shown is executed, or the method performed by the host computer is executed.

[0206] Embodiments of this application also provide a program product including a program. When the program is run, Figure 2 the method performed by the host computer in the embodiments shown is executed, or the method performed by the target device is executed; or, Figure 3 or Figure 4 the method performed by the device configured with sensors in the embodiments shown is executed, or the method performed by the host computer is executed.

[0207] It should be understood that the processor in the embodiments of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, the steps of the above method embodiments may be completed by the integrated logic circuit in the hardware of the processor or instructions in software form. The above processor may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed by the hardware decoding processor, or executed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0208] It should also be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0209] As used in this specification, terms such as "unit" and "module" can be used to represent an entity, hardware, firmware, a combination of hardware and software, software, or software in execution related to a device or apparatus.

[0210] Those of ordinary skill in the art can realize that the various illustrative logical blocks and steps described in connection with the embodiments disclosed herein can be implemented in either electronic hardware or a combination of software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application. In several embodiments provided in this application, it should be understood that the disclosed devices, equipment, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there can be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling, direct coupling, or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or module can be in an electrical, mechanical, or other form.

[0211] The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical modules, that is, they can be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0212] In addition, in each embodiment of this application, the various functional modules can be integrated into one processing module, or each module can exist physically alone, or two or more units can be integrated into one module.

[0213] In the above embodiments, the functions of each functional module can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a program product. The program product includes one or more instructions (programs). When the program instructions (programs) are loaded and executed on a device or apparatus, the processes or functions described in the embodiments of the present application are generated in whole or in part. The instructions can be stored in a readable storage medium or transmitted from one readable storage medium to another. For example, the instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The readable storage medium can be any available medium that the device or apparatus can access or a data storage device such as a server, data center, etc. that includes one or more integrated available media. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, digital videodisc (DVD)), or a semiconductor medium (for example, solid state disk (SSD)), etc.

[0214] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or part of this technical solution can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing a device or apparatus (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: USB flash drive, removable hard disk, ROM, RAM, magnetic disk, or optical disc, etc., which can store program codes.

[0215] As described above, the above are only the specific implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for sensor calibration, characterized in that, The method is applied to a host computer, and the method includes: Obtain the device model of a target device, where the target device is configured with a sensor; Based on the device model of the target device and a pre-stored first correspondence, determine a target target position, where the first correspondence includes the correspondences between multiple device models and multiple target positions, and the target target position is the target position corresponding to the device model of the target device; Control the target to move to the target target position; Send a start instruction to the target device, where the start instruction is used to indicate starting the external parameter calibration of the sensor.

2. The method according to claim 1, characterized in that, The obtaining the device model of the target device includes: Send a request message to the target device, where the request message is used to request obtaining the device model of the target device; Receive a feedback message from the target device, where the feedback message carries the device model of the target device.

3. The method according to claim 2, wherein The request message carries a target calibration room type identifier, where the target calibration room type identifier is the identifier of the type of the calibration room where the host computer is located.

4. The method according to claim 1 or 2, characterized in that, The start instruction carries a target calibration room type identifier, where the target calibration room type identifier is the identifier of the type of the calibration room where the host computer is located.

5. The method according to any one of claims 1, 2 and 4, characterized in that, The start instruction carries a target calibration algorithm identifier.

6. The method according to claim 5, characterized in that, Before the sending the start instruction to the target device, the method further includes: Based on the device model of the target device, the target calibration room type identifier, and a pre-stored second correspondence, determine the target calibration algorithm identifier, where the second correspondence includes the correspondences between multiple device models, multiple calibration room type identifiers, and multiple calibration algorithm identifiers, and the target calibration room type identifier is the identifier of the type of the calibration room where the host computer is located; Generate the start instruction based on the target calibration algorithm identifier.

7. The method according to any one of claims 1 to 6, characterized in that, After the obtaining the device model of the target device, the method further includes: Judge whether the target device enters the wrong calibration room based on the device model of the target device.

8. The method according to claim 7, wherein The method further includes: In the case where the target device enters the wrong calibration room, give an alarm prompt.

9. A method for sensor calibration, characterized in that, Applied to a device configured with a sensor, the method includes: Receive a start instruction from a host computer, where the start instruction is used to indicate starting the external parameter calibration of the sensor; Determine a target calibration algorithm from multiple pre-stored calibration algorithms; Based on the target calibration algorithm, perform external parameter calibration on the sensor.

10. The method according to claim 9, characterized in that, Before the receiving the start instruction from the host computer, the method further includes: Receive a request message from the host computer, where the request message is used to request obtaining the device model of the device; Send a feedback message to the host computer, where the feedback message carries the device model of the device.

11. The method according to claim 10, characterized in that, The request message carries a target calibration room type identifier, where the target calibration room type identifier is the identifier of the type of the calibration room where the host computer is located.

12. The method according to claim 9 or 10, characterized in that, The start instruction carries a target calibration room type identifier, where the target calibration room type identifier is the identifier of the type of the calibration room where the host computer is located.

13. The method according to claim 11 or 12, characterized in that, The determining a target calibration algorithm from multiple pre-stored calibration algorithms includes: Determine a target calibration algorithm identifier based on the target calibration room type identifier and a pre-stored third correspondence relationship, where the third correspondence relationship includes the correspondence relationship between multiple calibration room type identifiers and multiple calibration algorithm identifiers; Determine a target calibration algorithm from multiple pre-stored calibration algorithms based on the target calibration algorithm identifier.

14. The method according to any one of claims 9 to 12, characterized in that, The start instruction carries the target calibration algorithm identifier.

15. The method according to claim 14, wherein The determining a target calibration algorithm from multiple pre-stored calibration algorithms includes: Determine a target calibration algorithm from multiple pre-stored calibration algorithms based on the target calibration algorithm identifier.

16. The method according to claim 9 or 10, characterized in that The determining a target calibration algorithm from multiple pre-stored calibration algorithms includes: Identify the target identifier of the target, where the target is used for the device to perform external parameter calibration on the sensor; Determine a target calibration room type identifier based on the target identifier and a pre-stored fourth correspondence relationship, where the target calibration room type identifier is the identifier of the type of the calibration room where the host computer is located, and the fourth correspondence relationship includes the correspondence relationship between multiple target identifiers and multiple calibration room type identifiers; Determine a target calibration algorithm identifier based on the target calibration room type identifier and a pre-stored third correspondence relationship, where the third correspondence relationship includes the correspondence relationship between multiple calibration room type identifiers and multiple calibration algorithm identifiers; Determine a target calibration algorithm from multiple pre-stored calibration algorithms based on the target calibration algorithm identifier.

17. The method according to any one of claims 11 to 13 and 16, characterized in that The method further includes: Judge whether the device enters the wrong calibration room based on the target calibration room type identifier.

18. The method according to claim 17, wherein The method further includes: Give an alarm prompt when the device enters the wrong calibration room.

19. A device for sensor calibration, characterized in that, The device includes a module for executing the method according to any one of claims 1 to 8, or the device includes a module for executing the method according to any one of claims 9 to 18.

20. A device for sensor calibration, characterized in that, Comprising a processor and a memory, wherein, The memory is used for storing programs; The processor is used for calling the program to enable the device to execute the method according to any one of claims 1 to 8, or to enable the device to execute the method according to any one of claims 9 to 18.

21. A vehicle, characterized in that, The vehicle includes a processor and a sensor, and the processor is used for executing the method according to any one of claims 9 to 18 to perform external parameter calibration on the sensor.

22. A readable storage medium, on which a program is stored, characterized in that, When the program is executed, the method according to any one of claims 1 to 18 is enabled to be executed.

23. A program product, characterized in that, Including a program, when the program is run, the method according to any one of claims 1 to 18 is enabled to be executed.

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