Vehicle calibration control system and method based on Internet of Vehicles and vehicle

Abstract

The invention discloses a vehicle calibration control system and method based on the Internet of Vehicles and a vehicle, and the system comprises an upper computer, an image collection module, a millimeter wave radar module, a communication module, a cloud platform and a vehicle-mounted controller, the automatic calibration state of the image acquisition module can be controlled according to the deviation angle, calculated by the cloud platform, of the image acquisition module, and / or the automatic calibration state of the millimeter-wave radar module can be controlled according to the deviation angle, calculated by the cloud platform, of the millimeter-wave radar module. According to the invention, by using the Internet of Vehicles technology, the deviation information between the installation angle of the image acquisition module and the set angle and the deviation information between the installation angle of the millimeter wave radar module and the set angle can be accurately judged; therefore, the self-calibration state of the image acquisition module and / or the millimeter wave radar module is accurately controlled according to the deviation information, the calibration success rate is effectively improved, repeated debugging caused by the installation problem is reduced, and the overall assembly efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle calibration control system, method and vehicle based on the Internet of Vehicles. Background Art

[0002] With the development of autonomous driving technology, vehicles' demand for environmental perception is increasing, prompting the increasingly widespread use of perception devices such as millimeter-wave radars and cameras in vehicles to help vehicles achieve accurate perception of the surrounding environment, thereby providing the necessary information support for autonomous driving functions.

[0003] However, in the actual assembly process, the existing calibration process often relies on the accuracy of the installation position and angle of the millimeter-wave radar and camera. Even the slightest deviation may cause calibration failure, affecting the accuracy and reliability of the sensor data. Therefore, once the calibration fails, it is usually necessary to disassemble and adjust the position of the radar or camera, and then test again. It may take multiple repetitions to achieve the ideal calibration effect, resulting in low overall assembly efficiency.

[0004] Therefore, how to improve the calibration success rate of millimeter-wave radars and cameras, reduce repeated debugging due to installation problems, and improve overall assembly efficiency have become issues that need to be urgently addressed. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, one object of the present invention is to propose a vehicle calibration control system based on the Internet of Vehicles. By utilizing the Internet of Vehicles technology, the system can accurately determine the deviation information between the installation angle of the image acquisition module and the set angle, as well as the deviation information between the installation angle of the millimeter-wave radar module and the set angle, thereby accurately controlling the self-calibration status of the image acquisition module and / or the millimeter-wave radar module according to the deviation information, effectively improving the calibration success rate, reducing repeated debugging caused by installation problems, and thus improving the overall assembly efficiency.

[0007] To this end, the second object of the present invention is to propose a vehicle calibration control method based on the Internet of Vehicles.

[0008] To this end, a third object of the present invention is to provide a vehicle.

[0009] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0010] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a vehicle calibration control system based on the Internet of Vehicles, the system comprising: a host computer, configured to issue calibration instructions to a camera target and a millimeter-wave radar target, wherein the camera target is configured to: move to a first calibration position based on the calibration instruction so that the camera target is aligned with the center point of an image acquisition module, and the millimeter-wave radar target is configured to: move to a second calibration position based on the calibration instruction so that the millimeter-wave radar target is aligned with the center point of the millimeter-wave radar module; the image acquisition module is configured to determine its a first actual installation angle; the millimeter-wave radar module is used to determine its second actual installation angle through the millimeter-wave radar target; a cloud platform is used to determine a first deviation angle based on a first design angle and the first actual installation angle, and to determine a second deviation angle based on a second design angle and the second actual installation angle; a communication module is used to realize data transmission between the cloud platform, the host computer and the vehicle-mounted controller; the vehicle-mounted controller is used to control the automatic calibration state of the image acquisition module according to the first deviation angle, and / or control the automatic calibration state of the millimeter-wave radar module according to the second deviation angle.

[0011] According to the vehicle calibration control system based on the Internet of Vehicles embodiment of the present invention, by utilizing the Internet of Vehicles technology, the deviation information between the installation angle of the image acquisition module and the set angle, as well as the deviation information between the installation angle of the millimeter-wave radar module and the set angle can be accurately determined, thereby accurately controlling the self-calibration status of the image acquisition module and / or the millimeter-wave radar module according to the deviation information, effectively improving the calibration success rate, reducing repeated debugging caused by installation problems, and thus improving the overall assembly efficiency.

[0012] In addition, the vehicle calibration control system based on the Internet of Vehicles according to an embodiment of the present invention may also have the following additional technical features: In some examples, when controlling the automatic calibration state of the image acquisition module according to the first deviation angle, and / or controlling the automatic calibration state of the millimeter-wave radar module according to the second deviation angle, the on-board controller is used to: when the first deviation angle is within a first preset deviation angle range, control the image acquisition module to start automatic calibration, and adjust the posture of the image acquisition module so that the first deviation angle remains within the first preset deviation angle range; when the second deviation angle is within the first preset deviation angle range, control the millimeter-wave radar module to start automatic calibration, and adjust the posture of the millimeter-wave radar module so that the second deviation angle remains within the first preset deviation angle range.

[0013] In some examples, the vehicle calibration control system based on the Internet of Vehicles further includes: a laser radar module and an edge computing unit, the laser radar module is used to obtain a third actual installation angle of the image acquisition module, and the edge computing unit is used to determine a third deviation angle based on the first design angle and the third actual installation angle; when controlling the automatic calibration state of the image acquisition module according to the first deviation angle, the on-board controller is used to: when the first deviation angle is within a second preset deviation angle range, control the posture adjustment component of the vehicle to adjust the posture of the image acquisition module until the first deviation angle is within the first preset deviation angle range, and obtain the third deviation angle, wherein the lower limit value of the second preset deviation angle range is greater than the upper limit value of the first preset deviation angle range; control the automatic calibration state of the image acquisition module according to the third deviation angle.

[0014] In some examples, when controlling the automatic calibration state of the image acquisition module according to the third deviation angle, the on-board controller is used to: when the third deviation angle is within the first preset deviation angle range, control the image acquisition module to start automatic calibration, and adjust the posture of the image acquisition module to keep the third deviation angle within the first preset deviation angle range.

[0015] In some examples, the vehicle's posture adjustment component includes: a three-axis rotation device, which is connected to the image acquisition module. When controlling the vehicle's posture adjustment component to adjust the posture of the image acquisition module, the on-board controller is also used to: control the three-axis rotation device to rotate to control the yaw angle, pitch angle and roll angle of the image acquisition module to adjust until the third deviation angle is within the first preset deviation angle range.

[0016] In some examples, the laser radar module is also used to obtain a fourth actual installation angle of the millimeter-wave radar module, and the edge computing unit is further used to determine a fourth deviation angle based on the second design angle and the fourth actual installation angle; when controlling the automatic calibration state of the millimeter-wave radar module according to the second deviation angle, the on-board controller is also used to: when the second deviation angle is within the second preset deviation angle range, control the posture adjustment component of the vehicle to adjust the posture of the millimeter-wave radar module until the second deviation angle is within the first preset deviation angle range, and obtain the fourth deviation angle; control the automatic calibration state of the millimeter-wave radar module according to the fourth deviation angle.

[0017] In some examples, when controlling the automatic calibration state of the millimeter-wave radar module according to the fourth deviation angle, the on-board controller is also used to: when the fourth deviation angle is within the first preset deviation angle range, control the millimeter-wave radar module to start automatic calibration, and adjust the posture of the millimeter-wave radar module so that the fourth deviation angle remains within the first preset deviation angle range.

[0018] In some examples, the vehicle's posture adjustment component includes: a transverse and longitudinal adjustment device, which is connected to the millimeter-wave radar module. When controlling the vehicle's posture adjustment component to adjust the posture of the millimeter-wave radar module, the on-board controller is used to: control the transverse and longitudinal adjustment device to rotate to control the horizontal angle and vertical angle of the millimeter-wave radar module to adjust until the fourth deviation angle is within the first preset deviation angle range.

[0019] In some examples, when controlling the automatic calibration state of the image acquisition module according to the first deviation angle, and / or controlling the automatic calibration state of the millimeter-wave radar module according to the second deviation angle, the on-board controller is further used to: when the first deviation angle exceeds the upper limit value of the second preset deviation angle range, control the image acquisition module not to start automatic calibration; when the second deviation angle exceeds the upper limit value of the second preset deviation angle range, control the millimeter-wave radar module not to start automatic calibration.

[0020] In some examples, the communication module includes: an onboard unit; the onboard unit is disposed at the bottom of the vehicle cabin and is used to transmit the first actual installation angle and the second actual installation angle to the host computer.

[0021] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a vehicle calibration control method based on the Internet of Vehicles, which includes the following steps: issuing calibration instructions to a camera target and a millimeter-wave radar target, moving the camera target to a first calibration position so that the camera target is aligned with the center point of the image acquisition module, and moving the millimeter-wave radar target to a second calibration position so that the millimeter-wave radar target is aligned with the center point of the millimeter-wave radar module; determining a first actual installation angle of the image acquisition module and determining a second actual installation angle of the millimeter-wave radar module; determining a first deviation angle based on a first design angle and the first actual installation angle, and determining a second deviation angle based on a second design angle and the second actual installation angle; controlling the automatic calibration state of the image acquisition module based on the first deviation angle, and / or controlling the automatic calibration state of the millimeter-wave radar module based on the second deviation angle.

[0022] According to the vehicle calibration control method based on the Internet of Vehicles of the present invention, by utilizing the Internet of Vehicles technology, the deviation information between the installation angle of the image acquisition module and the set angle and the deviation information between the installation angle of the millimeter-wave radar module and the set angle can be accurately determined, thereby accurately controlling the self-calibration status of the image acquisition module and / or the millimeter-wave radar module according to the deviation information, effectively improving the calibration success rate, reducing repeated debugging caused by installation problems, and thus improving the overall assembly efficiency.

[0023] To achieve the above-mentioned purpose, the third aspect of the present invention discloses a vehicle, which includes: the vehicle calibration control system based on the Internet of Vehicles as described in the first aspect of the present invention; or, a processor, a memory, and a vehicle calibration control program based on the Internet of Vehicles stored in the memory and executable on the processor, wherein the vehicle calibration control program based on the Internet of Vehicles, when executed by the processor, implements the vehicle calibration control method based on the Internet of Vehicles as described in the second aspect of the present invention.

[0024] According to the vehicle of the embodiment of the present invention, by utilizing vehicle networking technology, it is possible to accurately determine the deviation information between the installation angle of the image acquisition module and the set angle, as well as the deviation information between the installation angle of the millimeter-wave radar module and the set angle, thereby accurately controlling the self-calibration status of the image acquisition module and / or the millimeter-wave radar module based on the deviation information, effectively improving the calibration success rate, reducing repeated debugging caused by installation problems, and thus improving the overall assembly efficiency.

[0025] To achieve the above-mentioned objectives, the fourth embodiment of the present invention discloses a computer-readable storage medium, on which a vehicle calibration control program based on the Internet of Vehicles is stored. When the vehicle calibration control program based on the Internet of Vehicles is executed by a processor, the vehicle calibration control method based on the Internet of Vehicles as described in the second embodiment of the present invention is implemented.

[0026] According to the computer-readable storage medium of an embodiment of the present invention, when the vehicle calibration control program based on the Internet of Vehicles stored thereon is executed by a processor, by utilizing the Internet of Vehicles technology, the deviation information between the installation angle of the image acquisition module and the set angle and the deviation information between the installation angle of the millimeter-wave radar module and the set angle can be accurately determined, thereby accurately controlling the self-calibration status of the image acquisition module and / or the millimeter-wave radar module according to the deviation information, effectively improving the calibration success rate, reducing repeated debugging caused by installation problems, and thus improving the overall assembly efficiency.

[0027] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which: Figure 1 1 is a schematic structural diagram of a vehicle calibration control system based on the Internet of Vehicles according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of a vehicle calibration control system based on the Internet of Vehicles according to another embodiment of the present invention; Figure 3 1 is a schematic structural diagram of controlling a posture adjustment component of a vehicle to adjust the posture of an image acquisition module according to an embodiment of the present invention; Figure 4 1 is a schematic structural diagram of controlling a vehicle posture adjustment component to adjust the posture of a millimeter-wave radar module according to one embodiment of the present invention; Figure 5 1 is a schematic diagram of the interaction principle of a vehicle calibration control system based on the Internet of Vehicles according to an embodiment of the present invention; Figure 6 4 is a flow chart of a vehicle calibration control method based on the Internet of Vehicles according to an embodiment of the present invention.

[0029] Reference numerals: Vehicle calibration control system based on the Internet of Vehicles (IoV) 100; host computer 110; image acquisition module 120; millimeter-wave radar module 130; cloud platform 140; communication module 150; and vehicle-mounted controller 160. DETAILED DESCRIPTION

[0030] In order to enable a more detailed understanding of the features and technical content of the embodiments of the present invention, the implementation of the embodiments of the present invention is described in detail below in conjunction with the accompanying drawings. The accompanying drawings are for reference only and are not intended to limit the embodiments of the present invention. In the following technical description, for the sake of convenience of explanation, multiple details are provided to provide a full understanding of the disclosed embodiments. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices may be simplified for display.

[0031] Reference below Figures 1-6 A vehicle calibration control system and method based on the Internet of Vehicles according to an embodiment of the present invention is described.

[0032] Figure 1 1 is a schematic diagram of a vehicle calibration control system 100 based on the Internet of Vehicles according to an embodiment of the present invention. The vehicle calibration control system 100 based on the Internet of Vehicles includes: a host computer 110, an image acquisition module 120, a millimeter wave radar module 130, a cloud platform 140, a communication module 150, and a vehicle controller 160. Combine Figure 1 and Figure 2 As shown, the host computer 110 is used to send calibration instructions to the camera target and the millimeter-wave radar target, wherein the camera target is configured to move to a first calibration position based on the calibration instruction so that the camera target is aligned with the center point of the image acquisition module 120, and the millimeter-wave radar target is configured to move to a second calibration position based on the calibration instruction so that the millimeter-wave radar target is aligned with the center point of the millimeter-wave radar module 130.

[0033] Specifically, the IoV-based vehicle calibration control system 100 includes a host computer 110, which is responsible for sending calibration instructions to a camera target and a millimeter-wave radar target via an industrial bus (such as a CAN bus) or wireless communication (such as 5G or Wi-Fi). This sends instructions to the camera target and the millimeter-wave radar target, controlling them to perform corresponding actions and thus initiating the entire calibration process. For example, based on the calibration instructions issued by the host computer 110, the camera target can be moved to a first calibration position to align the camera target with the center point of the image acquisition module 120, thereby providing a position reference for the image acquisition module 120. Simultaneously, based on the calibration instructions issued by the host computer 110, the millimeter-wave radar target can be moved to a second calibration position to align the millimeter-wave radar target with the center point of the millimeter-wave radar module 130, thereby providing a position reference for the millimeter-wave radar module 130.

[0034] The image acquisition module 120 is used to determine the first actual installation angle of the camera target through the camera target.

[0035] Specifically, the vehicle calibration control system 100 based on the Internet of Vehicles also includes an image acquisition module 120, which includes but is not limited to a high-definition data acquisition sensor (e.g., a high-definition camera) mounted on the vehicle's windshield. Furthermore, the image acquisition module 120 can determine its own installation angle, i.e., a first actual installation angle, using a camera target. It is understood that the camera target is a checkerboard structure, consisting of a series of black and white square grids with a regular geometric shape and distinct feature points. During the vehicle calibration process, the camera target is placed at a specific position (i.e., the first calibration position). The image acquisition module 120 can capture the camera target and analyze the captured checkerboard target image. Furthermore, since the camera target is aligned with the center point of the image acquisition module 120, the image acquisition module 120 can use image processing algorithms to calculate the actual position of each corner point on the camera target in the image (including yaw, pitch, roll, etc.), thereby determining its own installation position.

[0036] The millimeter wave radar module 130 is configured to determine its second actual installation angle through a millimeter wave radar target.

[0037] Specifically, the connected vehicle-based vehicle calibration control system 100 also includes a millimeter-wave radar module 130, which is mounted, but not limited to, on the vehicle's front bumper. The millimeter-wave radar target can determine its own installation angle, i.e., the second actual installation angle, using a millimeter-wave radar target. It is understood that the millimeter-wave radar target is constructed of a metal steel plate with excellent electromagnetic reflection properties, effectively reflecting the electromagnetic waves emitted by the millimeter-wave radar. During vehicle calibration, the millimeter-wave radar target is placed at a specific location (i.e., the second calibration location) to serve as a reference for the millimeter-wave radar module 130. Furthermore, because the millimeter-wave radar target is aligned with the center point of the millimeter-wave radar module 130, when the millimeter-wave radar module 130 transmits a millimeter-wave signal to the target, the target reflects the signal back. Simultaneously, the millimeter-wave radar module 130 receives the reflected signal and determines its own installation position based on information such as the phase and amplitude of the reflected signal.

[0038] The cloud platform 140 is configured to determine a first deviation angle based on a first design angle and a first actual installation angle, and to determine a second deviation angle based on a second design angle and a second actual installation angle.

[0039] Specifically, the vehicle calibration control system 100 based on the Internet of Vehicles also includes a cloud platform 140, which can receive the first actual installation angle and the second actual installation angle as well as the first design angle and the second design angle set by the user, and process the received data using preset algorithms and models to accurately determine the first deviation angle between the first design angle and the first actual installation angle, and the second deviation angle between the second design angle and the second actual installation angle.

[0040] In a specific embodiment, the first deviation angle is calculated by comparing the first design angle with the first actual installation angle dimension by dimension. For example, in the yaw angle dimension, the yaw angle value in the first design angle is subtracted from the yaw angle value in the first actual installation angle, and the difference obtained is the deviation in the yaw angle direction; similarly, similar calculations are performed for the pitch angle and the roll angle; similarly, the second deviation angle is calculated by comparing the second design angle and the second actual installation angle in different dimensions. For example, in the horizontal dimension, the horizontal angle value in the second design angle is subtracted from the horizontal angle value in the second actual installation angle, and the difference obtained is the deviation in the horizontal direction; similarly, a similar calculation is performed for the vertical angle to obtain the deviation in the vertical direction.

[0041] The communication module 150 is used to realize data transmission among the cloud platform 140 , the host computer 110 and the vehicle controller 160 .

[0042] Specifically, the vehicle calibration control system 100 based on the Internet of Vehicles also includes a communication module 150 for establishing and maintaining communication links between various components and enabling data transmission between the cloud platform 140, the host computer 110, and the onboard controller 160. It will be understood that the communication module 150 can send vehicle data (the first actual installation angle and the second actual installation angle) to the host computer 110 for transmission to the cloud platform 140 via the communication route between the communication module 150 and the cloud platform 140. At the same time, the communication module 150 can also transmit the calibration results of the actual installation angle sent by the cloud platform 140 to the host computer 110. In other words, the communication module 150 can achieve two-way communication between different ports.

[0043] The vehicle-mounted controller 160 is configured to control the automatic calibration state of the image acquisition module 120 according to the first deviation angle, and / or control the automatic calibration state of the millimeter-wave radar module 130 according to the second deviation angle.

[0044] Specifically, the vehicle calibration control system 100 based on the Internet of Vehicles also includes an on-board controller 160, which can receive the first deviation angle and the second deviation angle in real time through the communication module 150, and determine whether the image acquisition module 120 and the millimeter-wave radar module 130 need to be automatically calibrated according to preset rules. For example, according to actual conditions, it can be selected to separately control the automatic calibration of the image acquisition module 120, or separately control the automatic calibration of the millimeter-wave radar module 130, or simultaneously perform automatic calibration control on the image acquisition module 120 and the millimeter-wave radar module 130.

[0045] Therefore, the above-mentioned vehicle calibration control system 100 based on the Internet of Vehicles can accurately determine the deviation information between the installation angle of the image acquisition module 120 and the set angle, as well as the deviation information between the installation angle of the millimeter-wave radar module 130 and the set angle by utilizing the Internet of Vehicles technology, thereby accurately controlling the self-calibration status of the image acquisition module 120 and / or the millimeter-wave radar module 130 according to the deviation information, effectively improving the calibration success rate, reducing repeated debugging caused by installation problems, and thus improving the overall assembly efficiency.

[0046] In one embodiment of the present invention, when controlling the automatic calibration state of the image acquisition module 120 according to the first deviation angle and / or controlling the automatic calibration state of the millimeter-wave radar module 130 according to the second deviation angle, the onboard controller 160 is configured to: when the first deviation angle is within a first preset deviation angle range, control the image acquisition module 120 to start automatic calibration and adjust the posture of the image acquisition module 120 so that the first deviation angle remains within the first preset deviation angle range; When the second deviation angle is within the first preset deviation angle range, the millimeter wave radar module 130 is controlled to start automatic calibration and adjust the posture of the millimeter wave radar module 130 to keep the second deviation angle within the first preset deviation angle range.

[0047] Specifically, in the process of controlling the automatic calibration state of the image acquisition module 120 according to the first deviation angle, and / or controlling the automatic calibration state of the millimeter-wave radar module 130 according to the second deviation angle, if the on-board controller 160 detects that the first deviation angle is within the first preset deviation angle range, it means that although the actual installation angle of the image acquisition module 120 has a certain deviation from the design angle, it is still within an acceptable range. At this time, the automatic calibration function of the image acquisition module 120 can be triggered to adjust its own posture so that the first deviation angle remains within the first preset deviation angle range. At the same time, the first deviation angle is further reduced, thereby effectively improving the calibration success rate and reducing repeated debugging caused by installation problems, thereby improving the overall assembly efficiency.

[0048] Furthermore, if the on-board controller 160 detects that the second deviation angle is within the first preset deviation angle range, it means that although the actual installation angle of the millimeter-wave radar module 130 has a certain deviation from the design angle, it is still within an acceptable range. At this time, the automatic calibration function of the millimeter-wave radar module 130 can be triggered to adjust its own posture so that the second deviation angle remains within the first preset deviation angle range. At the same time, the second deviation angle is further reduced, thereby effectively improving the calibration success rate and reducing repeated debugging caused by installation problems, thereby improving the overall assembly efficiency.

[0049] In a specific embodiment, the first preset deviation angle range can be set according to actual conditions and experimental theory, including but not limited to within ±3°.

[0050] In one embodiment of the present invention, Figure 2 As shown, the vehicle calibration control system 100 based on the Internet of Vehicles further includes: a laser radar module and an edge computing unit, the laser radar module is used to obtain a third actual installation angle of the image acquisition module 120, and the edge computing unit is used to determine a third deviation angle according to the first design angle and the third actual installation angle; When controlling the automatic calibration state of the image acquisition module 120 according to the first deviation angle, the vehicle-mounted controller 160 is used to: when the first deviation angle is within the second preset deviation angle range, control the vehicle's posture adjustment component to adjust the posture of the image acquisition module 120 until the first deviation angle is within the first preset deviation angle range, and obtain a third deviation angle, wherein the lower limit value of the second preset deviation angle range is greater than the upper limit value of the first preset deviation angle range; and control the automatic calibration state of the image acquisition module 120 according to the third deviation angle.

[0051] Specifically, the vehicle calibration control system 100 based on the Internet of Vehicles also includes a laser radar module and an edge computing unit, wherein the laser radar module includes but is not limited to a solid-state laser radar, which can be set on the upper part of the camera target and adopts a 256-beam scanning method to obtain the third actual installation angle of the image acquisition module 120 and transmit it to the edge computing unit; the edge computing unit can be set at a position close to the laser radar module, receive the third actual installation angle obtained by the laser radar module, and calculate the third deviation angle based on the third actual installation angle and the pre-set first design angle.

[0052] Furthermore, when controlling the automatic calibration state of the image acquisition module 120 according to the first deviation angle, if the first deviation angle is within the second preset deviation angle range, it means that there is a large deviation between the current installation angle of the image acquisition module 120 and the set angle, and the automatic calibration condition is not met. At this time, the posture adjustment component of the vehicle can be controlled to adjust the posture of the image acquisition module 120 until the first deviation angle is adjusted to be within the first preset deviation angle range, indicating that the self-calibration condition of the image acquisition module 120 has been met. However, in order to further verify the correctness of the first deviation angle, the third actual installation angle of the image acquisition module 120 can be obtained to determine the third deviation angle, and the automatic calibration state of the image acquisition module 120 is controlled according to the third deviation angle.

[0053] Furthermore, the lower limit value of the second preset deviation angle range is greater than the upper limit value of the first preset deviation angle range, wherein the second preset deviation angle range can also be set according to actual conditions and experimental theory, including but not limited to 3°-5°. It can be understood that when the first deviation angle is within the second preset deviation angle range, by utilizing the interaction between the laser radar module and the cloud platform 140, the posture of the image acquisition module 120 is adjusted, and the automatic calibration state of the image acquisition module 120 is controlled according to the third deviation angle. While realizing wide-range intelligent calibration of some image acquisition modules 120 that do not meet the more accurate requirements, the correctness of the first deviation angle can be further verified, thereby improving the calibration efficiency and calibration success rate, reducing repeated debugging caused by installation problems, and thus improving the overall assembly efficiency.

[0054] In one embodiment of the present invention, when controlling the automatic calibration state of the image acquisition module 120 according to the third deviation angle, the vehicle-mounted controller 160 is used to: when the third deviation angle is within the first preset deviation angle range, control the image acquisition module 120 to start automatic calibration, and adjust the posture of the image acquisition module 120 so that the third deviation angle remains within the first preset deviation angle range.

[0055] Specifically, in the process of controlling the automatic calibration state of the image acquisition module 120 according to the third deviation angle, if the third deviation angle is within the first preset deviation angle range, it is further verified that the image acquisition module 120 does meet the conditions for automatic calibration. At this time, the image acquisition module 120 can be controlled to start automatic calibration and adjust its own posture so that the third deviation angle remains within the first preset deviation angle range. At the same time, the third deviation angle is further reduced, thereby effectively improving the calibration success rate and reducing repeated debugging caused by installation problems, thereby improving the overall assembly efficiency.

[0056] In one embodiment of the present invention, Figure 2 and Figure 3 As shown, the vehicle's posture adjustment component includes: a three-axis rotation device, which is connected to the image acquisition module 120. When controlling the vehicle's posture adjustment component to adjust the posture of the image acquisition module 120, the on-board controller 160 is also used to: control the three-axis rotation device to rotate, so as to control the yaw angle, pitch angle and roll angle of the image acquisition module 120 to be adjusted until the third deviation angle is within the first preset deviation angle range.

[0057] Specifically, the vehicle's posture adjustment component includes a three-axis rotation device connected to the image acquisition module 120, i.e., a mechanical device that can adjust the image acquisition module 120 in three dimensions, where the three dimensions are rotation dimensions around the X-axis, the Y-axis, and the Z-axis. For example, when controlling the vehicle's posture adjustment component to adjust the posture of the image acquisition module 120, the three-axis rotation device can be controlled to rotate to adjust the yaw angle and / or the pitch angle and / or the roll angle of the image acquisition module 120, and the changes in the third deviation angle are continuously monitored until the third deviation angle is within the first preset deviation angle range.

[0058] In one embodiment of the present invention, the laser radar module is further used to obtain a fourth actual installation angle of the millimeter-wave radar module 130, and the edge computing unit is further used to determine a fourth deviation angle based on the second design angle and the fourth actual installation angle; when controlling the automatic calibration state of the millimeter-wave radar module 130 based on the second deviation angle, the on-board controller 160 is further used to: when the second deviation angle is within a second preset deviation angle range, control the posture adjustment component of the vehicle to adjust the posture of the millimeter-wave radar module 130 until the second deviation angle is within the first preset deviation angle range, and then obtain the fourth deviation angle; The automatic calibration state of the millimeter wave radar module 130 is controlled according to the fourth deviation angle.

[0059] Specifically, the laser radar module can also obtain the fourth actual installation angle of the millimeter wave radar module 130 and transmit it to the edge computing unit. The edge computing unit can receive the fourth actual installation angle obtained by the laser radar module and calculate the fourth deviation angle based on the fourth actual installation angle and the pre-set second design angle.

[0060] Furthermore, when controlling the automatic calibration state of the millimeter-wave radar module 130 according to the second deviation angle, if the second deviation angle is within the second preset deviation angle range, it means that there is a large deviation between the current installation angle of the millimeter-wave radar module 130 and the set angle, and the automatic calibration condition is not met. At this time, the posture adjustment component of the vehicle can be controlled to adjust the posture of the millimeter-wave radar module 130 until the second deviation angle is adjusted to be within the first preset deviation angle range, indicating that the self-calibration condition of the millimeter-wave radar module 130 has been met. However, in order to further verify the correctness of the second deviation angle, the fourth actual installation angle of the millimeter-wave radar module 130 can be obtained to determine the fourth deviation angle, and the automatic calibration state of the image acquisition module 120 is controlled according to the fourth deviation angle.

[0061] It can be understood that since the lower limit value of the second preset deviation angle range is greater than the upper limit value of the first preset deviation angle range, when the second deviation angle is within the second preset deviation angle range, the posture of the millimeter-wave radar module 130 is adjusted by utilizing the interaction between the laser radar module and the cloud platform 140, and the automatic calibration state of the millimeter-wave radar module 130 is controlled according to the fourth deviation angle. While realizing wide-range intelligent calibration of some millimeter-wave radar modules 130 that do not meet the more accurate requirements, the correctness of the second deviation angle can be further verified, thereby improving the calibration efficiency and calibration success rate, reducing repeated debugging caused by installation problems, and thus improving the overall assembly efficiency.

[0062] In one embodiment of the present invention, when controlling the automatic calibration state of the millimeter-wave radar module 130 according to the fourth deviation angle, the on-board controller 160 is also used to: when the fourth deviation angle is within the first preset deviation angle range, control the millimeter-wave radar module 130 to start automatic calibration, and adjust the posture of the millimeter-wave radar module 130 so that the fourth deviation angle remains within the first preset deviation angle range.

[0063] Specifically, in the process of controlling the automatic calibration state of the millimeter-wave radar module 130 according to the fourth deviation angle, if the fourth deviation angle is within the first preset deviation angle range, it is further verified that the millimeter-wave radar module 130 does meet the conditions for automatic calibration. At this time, the millimeter-wave radar module 130 can be controlled to start automatic calibration and adjust its own posture to keep the fourth deviation angle within the first preset deviation angle range. At the same time, the fourth deviation angle can be further reduced, thereby effectively improving the calibration success rate and reducing repeated debugging caused by installation problems, thereby improving the overall assembly efficiency.

[0064] In one embodiment of the present invention, Figure 2 and Figure 4 As shown, the vehicle's posture adjustment component includes: a transverse and longitudinal adjustment device, which is connected to the millimeter-wave radar module 130. When controlling the vehicle's posture adjustment component to adjust the posture of the millimeter-wave radar module 130, the on-board controller 160 is used to: control the transverse and longitudinal adjustment device to rotate to control the horizontal angle and vertical angle of the millimeter-wave radar module 130 to adjust until the fourth deviation angle is within the first preset deviation angle range.

[0065] Specifically, the vehicle's posture adjustment component includes a transverse and longitudinal adjustment device connected to the millimeter-wave radar module 130, that is, a mechanical device that can adjust the millimeter-wave radar module 130 in two dimensions, wherein the two dimensions are the dimension of rotation around the horizontal axis and the dimension of rotation around the vertical axis. For example, when controlling the vehicle's posture adjustment component to adjust the posture of the millimeter-wave radar module 130, the transverse and longitudinal adjustment device can be controlled to rotate to change the horizontal angle of the millimeter-wave radar module 130 and / or the vertical angle of the millimeter-wave radar module 130, and continuously monitor the change of the fourth deviation angle until the fourth deviation angle is within the first preset deviation angle range.

[0066] In one embodiment of the present invention, when controlling the automatic calibration state of the image acquisition module 120 according to the first deviation angle and / or controlling the automatic calibration state of the millimeter-wave radar module 130 according to the second deviation angle, the onboard controller 160 is further configured to: when the first deviation angle exceeds an upper limit of a second preset deviation angle range, control the image acquisition module 120 to not start automatic calibration; When the second deviation angle exceeds the upper limit of the second preset deviation angle range, the millimeter wave radar module 130 is controlled not to start automatic calibration.

[0067] Specifically, in the process of controlling the automatic calibration state of the image acquisition module 120 according to the first deviation angle, and / or controlling the automatic calibration state of the millimeter-wave radar module 130 according to the second deviation angle, if the vehicle-mounted controller 160 detects that the first deviation angle exceeds the upper limit value of the second preset deviation angle range, it means that the actual installation angle of the image acquisition module 120 deviates greatly from the design angle and cannot be effectively corrected through the automatic calibration procedure. At this time, the image acquisition module 120 can be controlled not to turn on the automatic calibration function to avoid forced automatic calibration when the deviation is too large, resulting in calibration failure, thereby avoiding repeated debugging due to installation problems, and thus improving the overall assembly efficiency.

[0068] Furthermore, if the on-board controller 160 detects that the second deviation angle exceeds the upper limit value of the second preset deviation angle range, it means that the actual installation angle of the millimeter-wave radar module 130 deviates greatly from the design angle and cannot be effectively corrected through the automatic calibration procedure. At this time, the millimeter-wave radar module 130 can be controlled not to turn on the automatic calibration function to avoid forced automatic calibration when the deviation is too large, resulting in calibration failure, thereby avoiding repeated debugging due to installation problems and improving overall assembly efficiency.

[0069] In one embodiment of the present invention, Figure 2 As shown, the communication module 150 includes: a vehicle-mounted unit; the vehicle-mounted unit is arranged at the bottom of the vehicle cabin, and is used to transmit the first actual installation angle and the second actual installation angle to the host computer 110.

[0070] Specifically, the communication module 150 includes a vehicle-mounted unit, which is usually installed at the bottom of the vehicle cabin and can transmit the first actual installation angle obtained by the image acquisition module 120 and the second actual installation angle obtained by the millimeter wave radar module 130 to the host computer 110.

[0071] In summary, combined with Figure 5As shown, the interactive logic principle of the sensor intelligent calibration system 100 based on the Internet of Vehicles is as follows: the host computer 110 can send the first actual installation angle of the image acquisition module 120 and the second actual installation angle of the millimeter wave radar module 130 to the cloud platform 140 through the 4G / 5G communication line, so that the cloud platform 140 can use the preset algorithm and model to process the received data, accurately determine the first deviation angle between the first design angle and the first actual installation angle, and the second deviation angle between the second design angle and the second actual installation angle, and transmit them to the vehicle controller 160, so that the vehicle controller 160 can control the automatic calibration state of the image acquisition module 120 according to the first deviation angle, and / or control the millimeter wave radar module 130 according to the second deviation angle. 30; further, in the process of adjusting the image acquisition module 120 through the three-axis rotation device and / or the millimeter-wave radar module 130 through the horizontal and vertical adjustment device, the third actual installation angle of the image acquisition module 120 and / or the fourth actual installation angle of the millimeter-wave radar module 130 can be obtained in real time through the laser radar module, and the third deviation angle and the fourth deviation angle are determined through the edge computing unit, and the third deviation angle and the fourth deviation angle are transmitted to the cloud platform 140, so as to be transmitted to the vehicle-mounted controller 160 through the cloud platform 140, so as to facilitate the vehicle-mounted controller 160 to control the automatic calibration state of the image acquisition module 120 according to the third deviation angle, and / or control the automatic calibration state of the millimeter-wave radar module 130 according to the fourth deviation angle.

[0072] In summary, according to the vehicle calibration control system 100 based on the Internet of Vehicles embodiment of the present invention, by utilizing the Internet of Vehicles technology, it is possible to accurately determine the deviation information between the installation angle of the image acquisition module 120 and the set angle, as well as the deviation information between the installation angle of the millimeter-wave radar module 130 and the set angle, thereby accurately controlling the self-calibration status of the image acquisition module 120 and / or the millimeter-wave radar module 130 according to the deviation information, effectively improving the calibration success rate, reducing repeated debugging caused by installation problems, and thus improving the overall assembly efficiency. Furthermore, in the process of adjusting the image acquisition module 120 and / or the millimeter-wave radar module 130 according to the deviation information, the posture of the image acquisition module 120 and / or the millimeter-wave radar module 130 can be adjusted by utilizing the interaction between the lidar module, the edge computing unit and the cloud platform 140, and the automatic calibration state of the image acquisition module 120 can be controlled according to the adjusted deviation information, thereby achieving a wide range of intelligent calibration of the image acquisition module 120 and / or the millimeter-wave radar module 130 that does not meet the accuracy requirements, and further verifying the correctness of the deviation information to improve the calibration efficiency and calibration success rate, reduce repeated debugging caused by installation problems, and thus improve the overall assembly efficiency.

[0073] A further embodiment of the present invention proposes a vehicle calibration control method based on the Internet of Vehicles, such as Figure 6 As shown, the vehicle calibration control method based on the Internet of Vehicles includes the following steps: Step S1: Send calibration instructions to the camera target and the millimeter-wave radar target, move the camera target to a first calibration position so that the camera target is aligned with the center point of the image acquisition module, and move the millimeter-wave radar target to a second calibration position so that the millimeter-wave radar target is aligned with the center point of the millimeter-wave radar module.

[0074] Step S2: determining a first actual installation angle of the image acquisition module and determining a second actual installation angle of the millimeter wave radar module.

[0075] Step S3: determining a first deviation angle according to the first design angle and the first actual installation angle, and determining a second deviation angle according to the second design angle and the second actual installation angle.

[0076] Step S4: controlling the automatic calibration state of the image acquisition module according to the first deviation angle, and / or controlling the automatic calibration state of the millimeter wave radar module according to the second deviation angle.

[0077] In some embodiments, the automatic calibration state of the image acquisition module is controlled according to the first deviation angle, and / or the automatic calibration state of the millimeter-wave radar module is controlled according to the second deviation angle, including: when the first deviation angle is within the first preset deviation angle range, controlling the image acquisition module to start automatic calibration, and adjusting the posture of the image acquisition module to keep the first deviation angle within the first preset deviation angle range; when the second deviation angle is within the first preset deviation angle range, controlling the millimeter-wave radar module to start automatic calibration, and adjusting the posture of the millimeter-wave radar module to keep the second deviation angle within the first preset deviation angle range.

[0078] In some embodiments, the vehicle calibration control method based on the Internet of Vehicles also includes: obtaining a third actual installation angle of the image acquisition module; determining a third deviation angle based on the first design angle and the third actual installation angle; controlling the automatic calibration state of the image acquisition module according to the first deviation angle, including: when the first deviation angle is within the second preset deviation angle range, controlling the vehicle's posture adjustment component to adjust the posture of the image acquisition module until the first deviation angle is within the first preset deviation angle range, obtaining the third deviation angle, wherein the lower limit value of the second preset deviation angle range is greater than the upper limit value of the first preset deviation angle range; controlling the automatic calibration state of the image acquisition module according to the third deviation angle.

[0079] In some embodiments, the automatic calibration state of the image acquisition module is controlled according to the third deviation angle, including: when the third deviation angle is within the first preset deviation angle range, controlling the image acquisition module to start automatic calibration and adjusting the posture of the image acquisition module to keep the third deviation angle within the first preset deviation angle range.

[0080] In some embodiments, the vehicle's posture adjustment component includes: a three-axis rotation device, which is connected to the image acquisition module, and controls the vehicle's posture adjustment component to adjust the posture of the image acquisition module, including: controlling the three-axis rotation device to rotate to control the yaw angle, pitch angle and roll angle of the image acquisition module to adjust until the third deviation angle is within the first preset deviation angle range.

[0081] In some embodiments, the vehicle calibration control method based on the Internet of Vehicles also includes: obtaining a fourth actual installation angle of the millimeter-wave radar module; determining a fourth deviation angle based on the second design angle and the fourth actual installation angle; controlling the automatic calibration state of the millimeter-wave radar module according to the second deviation angle, including: when the second deviation angle is within the second preset deviation angle range, controlling the vehicle's posture adjustment component to adjust the posture of the millimeter-wave radar module until the second deviation angle is within the first preset deviation angle range, obtaining the fourth deviation angle; controlling the automatic calibration state of the millimeter-wave radar module according to the fourth deviation angle.

[0082] In some embodiments, the automatic calibration state of the millimeter-wave radar module is controlled according to the fourth deviation angle, including: when the fourth deviation angle is within the first preset deviation angle range, controlling the millimeter-wave radar module to start automatic calibration, and adjusting the posture of the millimeter-wave radar module to keep the fourth deviation angle within the first preset deviation angle range.

[0083] In some embodiments, the vehicle's posture adjustment component includes: a transverse and longitudinal adjustment device, which is connected to the millimeter-wave radar module, and controls the vehicle's posture adjustment component to adjust the posture of the millimeter-wave radar module, including: controlling the transverse and longitudinal adjustment device to rotate to control the horizontal angle and vertical angle of the millimeter-wave radar module to adjust until the fourth deviation angle is within the first preset deviation angle range.

[0084] In some embodiments, controlling the automatic calibration state of the image acquisition module according to the first deviation angle, and / or controlling the automatic calibration state of the millimeter-wave radar module according to the second deviation angle, also includes: when the first deviation angle exceeds the upper limit value of the second preset deviation angle range, controlling the image acquisition module not to start automatic calibration; when the second deviation angle exceeds the upper limit value of the second preset deviation angle range, controlling the millimeter-wave radar module not to start automatic calibration.

[0085] In some embodiments, the vehicle calibration control method based on the Internet of Vehicles further includes: transmitting the first actual installation angle and the second actual installation angle to a host computer.

[0086] According to the vehicle calibration control method based on the Internet of Vehicles (IoV) of the present invention, by utilizing IoV technology, it is possible to accurately determine the deviation information between the installation angle of the image acquisition module and the set angle, as well as the deviation information between the installation angle of the millimeter-wave radar module and the set angle. Based on this deviation information, the self-calibration state of the image acquisition module and / or the millimeter-wave radar module can be accurately controlled, effectively improving the calibration success rate and reducing repeated debugging caused by installation problems, thereby improving overall assembly efficiency. Furthermore, during the process of adjusting the image acquisition module and / or the millimeter-wave radar module based on the deviation information, the posture of the image acquisition module and / or the millimeter-wave radar module can be adjusted by utilizing the interaction between the laser radar module, the edge computing unit, and the cloud platform. The self-calibration state of the image acquisition module and / or the millimeter-wave radar module is controlled based on the adjusted deviation information. This enables wide-range intelligent calibration of image acquisition modules and / or millimeter-wave radar modules that do not meet the accuracy requirements, while further verifying the correctness of the deviation information. This improves calibration efficiency and calibration success rate, reduces repeated debugging caused by installation problems, and thus improves overall assembly efficiency.

[0087] To achieve the above-mentioned purpose, the third aspect of the present invention discloses a vehicle, which includes: the vehicle calibration control system based on the Internet of Vehicles as described in the first aspect of the present invention; or, a processor, a memory, and a vehicle calibration control program based on the Internet of Vehicles stored in the memory and executable on the processor, wherein the vehicle calibration control program based on the Internet of Vehicles, when executed by the processor, implements the vehicle calibration control method based on the Internet of Vehicles as described in the second aspect of the present invention.

[0088] According to an embodiment of the present invention, a vehicle can accurately determine the deviation between the installation angle of the image acquisition module and the set angle, as well as the deviation between the installation angle of the millimeter-wave radar module and the set angle, by utilizing vehicle networking technology. This allows the self-calibration state of the image acquisition module and / or millimeter-wave radar module to be precisely controlled based on the deviation information, effectively improving the calibration success rate and reducing repeated debugging due to installation issues, thereby improving overall assembly efficiency. Furthermore, during the process of adjusting the image acquisition module and / or millimeter-wave radar module based on the deviation information, the posture of the image acquisition module and / or millimeter-wave radar module can be adjusted by utilizing the interaction between the lidar module, the edge computing unit, and the cloud platform. The self-calibration state of the image acquisition module and / or millimeter-wave radar module is then controlled based on the adjusted deviation information. This allows for wide-range intelligent calibration of image acquisition modules and / or millimeter-wave radar modules that do not meet the accuracy requirements, while further verifying the correctness of the deviation information. This improves calibration efficiency and the calibration success rate, reduces repeated debugging due to installation issues, and thus improves overall assembly efficiency.

[0089] To achieve the above-mentioned objectives, the fourth embodiment of the present invention discloses a computer-readable storage medium, on which a vehicle calibration control program based on the Internet of Vehicles is stored. When the vehicle calibration control program based on the Internet of Vehicles is executed by a processor, the vehicle calibration control method based on the Internet of Vehicles as described in the second embodiment of the present invention is implemented.

[0090] According to an embodiment of the present invention, when a computer-readable storage medium storing a vehicle calibration control program based on the Internet of Vehicles (IoV) is executed by a processor, IoV technology can be used to accurately determine the deviation between the installation angle of the image acquisition module and the set angle, as well as the deviation between the installation angle of the millimeter-wave radar module and the set angle. This allows the image acquisition module and / or millimeter-wave radar module to be accurately controlled based on the deviation information, effectively improving the calibration success rate and reducing repeated debugging due to installation problems, thereby improving overall assembly efficiency. Furthermore, during the process of adjusting the image acquisition module and / or millimeter-wave radar module based on the deviation information, the posture of the image acquisition module and / or millimeter-wave radar module can be adjusted by utilizing the interaction between the lidar module, the edge computing unit, and the cloud platform. The automatic calibration state of the image acquisition module and / or millimeter-wave radar module is then controlled based on the adjusted deviation information. This allows for wide-range intelligent calibration of image acquisition modules and / or millimeter-wave radar modules that do not meet the accuracy requirements, while further verifying the correctness of the deviation information. This improves calibration efficiency and the calibration success rate, reduces repeated debugging due to installation problems, and thus improves overall assembly efficiency.

[0091] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0092] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A vehicle calibration control system based on the Internet of Vehicles, characterized in that: include: a host computer, configured to issue a calibration instruction to the camera target and the millimeter-wave radar target, wherein the camera target is configured to move to a first calibration position based on the calibration instruction so that the camera target is aligned with the center point of the image acquisition module, and the millimeter-wave radar target is configured to move to a second calibration position based on the calibration instruction so that the millimeter-wave radar target is aligned with the center point of the millimeter-wave radar module; The image acquisition module is used to determine the first actual installation angle of the camera target through the camera target; The millimeter wave radar module is used to determine its second actual installation angle through the millimeter wave radar target; a cloud platform, configured to determine a first deviation angle based on a first design angle and the first actual installation angle, and to determine a second deviation angle based on a second design angle and the second actual installation angle; A communication module, used to realize data transmission between the cloud platform, the host computer and the vehicle controller; The on-board controller is used to control the automatic calibration state of the image acquisition module according to the first deviation angle, and / or control the automatic calibration state of the millimeter-wave radar module according to the second deviation angle.

2. The vehicle calibration control system based on the Internet of Vehicles according to claim 1, characterized in that: When controlling the automatic calibration state of the image acquisition module according to the first deviation angle, and / or controlling the automatic calibration state of the millimeter-wave radar module according to the second deviation angle, the on-board controller is configured to: When the first deviation angle is within a first preset deviation angle range, controlling the image acquisition module to start automatic calibration and adjusting the posture of the image acquisition module so that the first deviation angle remains within the first preset deviation angle range; When the second deviation angle is within the first preset deviation angle range, the millimeter-wave radar module is controlled to start automatic calibration and the posture of the millimeter-wave radar module is adjusted to keep the second deviation angle within the first preset deviation angle range.

3. The vehicle calibration control system based on the Internet of Vehicles according to claim 2, characterized in that: The vehicle calibration control system based on the Internet of Vehicles further includes: a laser radar module and an edge computing unit, wherein the laser radar module is used to obtain a third actual installation angle of the image acquisition module, and the edge computing unit is used to determine a third deviation angle based on the first design angle and the third actual installation angle; when controlling the automatic calibration state of the image acquisition module based on the first deviation angle, the onboard controller is used to: When the first deviation angle is within a second preset deviation angle range, controlling the posture adjustment component of the vehicle to adjust the posture of the image acquisition module until the first deviation angle is within the first preset deviation angle range, and acquiring the third deviation angle, wherein a lower limit value of the second preset deviation angle range is greater than an upper limit value of the first preset deviation angle range; The automatic calibration state of the image acquisition module is controlled according to the third deviation angle.

4. The vehicle calibration control system based on the Internet of Vehicles according to claim 3, characterized in that: When controlling the automatic calibration state of the image acquisition module according to the third deviation angle, the onboard controller is configured to: When the third deviation angle is within the first preset deviation angle range, the image acquisition module is controlled to start automatic calibration and the posture of the image acquisition module is adjusted to keep the third deviation angle within the first preset deviation angle range.

5. The vehicle calibration control system based on the Internet of Vehicles according to claim 4, characterized in that: The vehicle posture adjustment component includes: a three-axis rotation device, the three-axis rotation device is connected to the image acquisition module, and when controlling the vehicle posture adjustment component to adjust the posture of the image acquisition module, the vehicle controller is further used to: The three-axis rotation device is controlled to rotate to adjust the yaw angle, pitch angle, and roll angle of the image acquisition module until the third deviation angle is within the first preset deviation angle range.

6. The vehicle calibration control system based on the Internet of Vehicles according to claim 3, characterized in that: The laser radar module is further configured to obtain a fourth actual installation angle of the millimeter-wave radar module, and the edge computing unit is further configured to determine a fourth deviation angle based on the second design angle and the fourth actual installation angle; when controlling the automatic calibration state of the millimeter-wave radar module based on the second deviation angle, the onboard controller is further configured to: When the second deviation angle is within the second preset deviation angle range, controlling the posture adjustment component of the vehicle to adjust the posture of the millimeter-wave radar module until the second deviation angle is within the first preset deviation angle range, and obtaining the fourth deviation angle; An automatic calibration state of the millimeter-wave radar module is controlled according to the fourth deviation angle.

7. The vehicle calibration control system based on the Internet of Vehicles according to claim 6, characterized in that: When controlling the automatic calibration state of the millimeter-wave radar module according to the fourth deviation angle, the onboard controller is further used to: When the fourth deviation angle is within the first preset deviation angle range, the millimeter-wave radar module is controlled to start automatic calibration and the posture of the millimeter-wave radar module is adjusted to keep the fourth deviation angle within the first preset deviation angle range.

8. The vehicle calibration control system based on the Internet of Vehicles according to claim 7, characterized in that: The vehicle posture adjustment component includes: a transverse and longitudinal adjustment device, which is connected to the millimeter wave radar module. When controlling the vehicle posture adjustment component to adjust the posture of the millimeter wave radar module, the vehicle controller is used to: The horizontal and vertical adjustment devices are controlled to rotate to adjust the horizontal and vertical angles of the millimeter-wave radar module until the fourth deviation angle is within the first preset deviation angle range.

9. The vehicle calibration control system based on the Internet of Vehicles according to claim 3, characterized in that: When controlling the automatic calibration state of the image acquisition module according to the first deviation angle, and / or controlling the automatic calibration state of the millimeter-wave radar module according to the second deviation angle, the on-board controller is further configured to: When the first deviation angle exceeds an upper limit of the second preset deviation angle range, controlling the image acquisition module to not start automatic calibration; When the second deviation angle exceeds an upper limit of the second preset deviation angle range, the millimeter wave radar module is controlled not to start automatic calibration.

10. The vehicle calibration control system based on the Internet of Vehicles according to claim 1, characterized in that: The communication module includes: a vehicle-mounted unit; The vehicle-mounted unit is arranged at the bottom of the vehicle cabin, and is used to transmit the first actual installation angle and the second actual installation angle to the host computer.

11. A vehicle calibration control method based on the Internet of Vehicles, the method comprising the following steps: issuing calibration instructions to the camera target and the millimeter-wave radar target, causing the camera target to move to a first calibration position so that the camera target is aligned with a center point of the image acquisition module, and causing the millimeter-wave radar target to move to a second calibration position so that the millimeter-wave radar target is aligned with a center point of the millimeter-wave radar module; Determining a first actual installation angle of the image acquisition module and determining a second actual installation angle of the millimeter wave radar module; Determining a first deviation angle according to a first design angle and the first actual installation angle, and determining a second deviation angle according to a second design angle and the second actual installation angle; The automatic calibration state of the image acquisition module is controlled according to the first deviation angle, and / or the automatic calibration state of the millimeter wave radar module is controlled according to the second deviation angle.

12. A vehicle comprising: A processor, a memory, and a vehicle calibration control program based on the Internet of Vehicles stored in the memory and executable on the processor, wherein the vehicle calibration control program based on the Internet of Vehicles, when executed by the processor, implements the vehicle calibration control method based on the Internet of Vehicles as claimed in claim 11.

13. A computer-readable storage medium, on which a vehicle calibration control program based on the Internet of Vehicles is stored, wherein the vehicle calibration control program based on the Internet of Vehicles, when executed by a processor, implements the vehicle calibration control method based on the Internet of Vehicles as claimed in claim 11.

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