Calibration method and device for environmental perception sensor of vehicle

Abstract

The invention relates to the technical field of sensor calibration, and provides a calibration method and device for an environment perception sensor of a vehicle. The method comprises the steps that in response to a control instruction for controlling an environment sensing sensor of the vehicle to enter a calibration mode, an air suspension of the vehicle is adjusted according to a standard position set in the calibration mode, so that the current position of the environment sensing sensor is adjusted; according to the adjusted position deviation between the current position of the environment perception sensor and the standard position, the initial position of a target used for calibrating the environment perception sensor is subjected to position compensation, and then the environment perception sensor is controlled to enter a calibration mode; wherein the initial position of the target is the target position set by the calibration mode. The calibration method for the environmental perception sensor of the vehicle provided by the embodiment of the invention can improve the calibration efficiency of the environmental perception sensor of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sensor calibration, in particular to a vehicle environmental perception sensor calibration method and device. BACKGROUND

[0002] The vehicle is usually equipped with environmental perception sensors such as cameras, laser radars and millimeter wave radars for road detection to improve the safety of vehicle driving. The reliability of road detection needs to be based on the sensing results of each environmental perception sensor on the vehicle, so the environmental perception sensor needs to be calibrated before use.

[0003] For vehicles equipped with air suspensions, the height of the vehicle body of the vehicle equipped with the air suspension will dynamically change due to factors such as load and / or driving mode, so when calibrating the environmental perception sensor of the vehicle equipped with the air suspension, the target is usually controlled to move to the target position set in the calibration mode, and the air suspension is controlled to adjust the height to control the position of the environmental perception sensor to adjust to the standard position set in the calibration mode, and after detecting that the position of the environmental perception sensor is adjusted to the standard position set in the calibration mode, the calibration mode is entered, and the environmental perception sensor is calibrated based on the target. However, since the air suspension drives the suspension position change by air flow, the accuracy is worse than that of the mechanical type, so after controlling the air suspension to adjust the height, the actual position of the environmental perception sensor after adjustment may have a position deviation from the standard position set in the calibration mode, resulting in failure to trigger the environmental perception sensor to enter the calibration mode for calibration, affecting the calibration efficiency of the environmental perception sensor. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, the present application provides a vehicle environmental perception sensor calibration method, which can improve the calibration efficiency of the vehicle environmental perception sensor.

[0005] The vehicle environmental perception sensor calibration method according to the first aspect of the present application comprises: In response to a control instruction for controlling the vehicle environmental perception sensor to enter a calibration mode, adjusting the air suspension of the vehicle according to a standard position set in the calibration mode to adjust the current position of the environmental perception sensor; After adjusting the current position of the environmental perception sensor and the position deviation of the standard position, compensating the initial position of the target for calibrating the environmental perception sensor, and controlling the environmental perception sensor to enter the calibration mode; The initial position of the target is the target position set in the calibration mode.

[0006] The air suspension of the vehicle is adjusted according to a standard position set in the calibration mode, so as to adjust the current position of the environment perception sensor, and the initial position of the target for calibrating the environment perception sensor is positionally compensated according to the positional deviation between the adjusted current position of the environment perception sensor and the standard position, so as to control the environment perception sensor to enter the calibration mode. Therefore, when the adjusted actual position of the environment perception sensor deviates from the standard position set in the calibration mode due to the adjustment error of the air suspension, the calibration mode can be triggered by positionally compensating the target according to the positional deviation, so as to avoid that the calibration mode cannot be triggered due to the positional deviation, and to reduce the calibration error caused by the positional deviation, thereby ensuring the calibration accuracy of the environment perception sensor and improving the calibration efficiency of the environment perception sensor.

[0007] According to an embodiment of the present application, the initial position of the target for calibrating the environment perception sensor is positionally compensated according to the positional deviation between the adjusted current position of the environment perception sensor and the standard position, including: According to the adjusted current position of the environment perception sensor, it is determined that the environment perception sensor is not calibrated at the current position, and the initial position of the target for calibrating the environment perception sensor is positionally compensated according to the positional deviation between the adjusted current position of the environment perception sensor and the standard position.

[0008] According to an embodiment of the present application, the initial position of the target for calibrating the environment perception sensor is positionally compensated according to the positional deviation between the adjusted current position of the environment perception sensor and the standard position, including: It is determined that the positional deviation between the current position and the standard position is within a preset deviation range, and the initial position of the target for calibrating the environment perception sensor is positionally compensated according to the positional deviation between the adjusted current position of the environment perception sensor and the standard position. The preset deviation range is determined according to the effective detection radius of the environment perception sensor.

[0009] According to an embodiment of the present application, the initial position of the target for calibrating the environment perception sensor is positionally compensated according to the positional deviation between the adjusted current position of the environment perception sensor and the standard position, including: The position of the target is adjusted according to the positional deviation between the current position and the standard position and the initial position of the target.

[0010] According to one embodiment of the present application, the initial position of the target for calibrating the environment perception sensor is positionally compensated according to the positional deviation between the adjusted current position of the environment perception sensor and the standard position, including: According to the positional deviation between the current position and the standard position, a coordinate correction parameter of the initial position of the target is determined when the calibration of the environment perception sensor is performed by using the initial position of the target.

[0011] According to one embodiment of the present application, further comprising: According to the adjusted current position of the environment perception sensor, it is determined that the environment perception sensor has been calibrated at the current position, and the air suspension of the vehicle is readjusted according to the positional deviation to readjust the current position of the environment perception sensor.

[0012] According to one embodiment of the present application, the environment perception sensor is not calibrated at a selectable position, the selectable position is determined as the standard position of the calibration mode setting, and the initial position of the target is determined according to the standard position; the selectable position is determined according to the height adjustment range of the air suspension.

[0013] According to one embodiment of the present application, further comprising: It is determined that the positional deviation between the current position and the standard position is out of a preset deviation range, and warning information is generated to prompt that there is an abnormal adjustment of the air suspension.

[0014] According to the vehicle environment perception sensor calibration device of the second embodiment of the present application, comprising: A position adjustment module is configured to adjust the air suspension of the vehicle according to a standard position set by a calibration mode setting to adjust a current position of the environment perception sensor in response to a control instruction for controlling the environment perception sensor of the vehicle to enter the calibration mode; A calibration control module is configured to control the environment perception sensor to enter the calibration mode after positionally compensating the initial position of the target for calibrating the environment perception sensor according to the positional deviation between the adjusted current position of the environment perception sensor and the standard position. The initial position of the target is the target position set by the calibration mode.

[0015] According to the electronic device of the third embodiment of the present application, the processor executes the computer program to implement the environment perception sensor calibration method of the vehicle according to any one of the above embodiments.

[0016] The computer readable storage medium according to the fourth aspect of the present application stores a computer program, and the computer program is executed by a processor to implement the vehicle environment perception sensor calibration method according to any one of the above-mentioned embodiments.

[0017] The vehicle according to the fifth aspect of the present application comprises the electronic device according to the third aspect of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0019] Figure 1 The first flowchart of the vehicle environment perception sensor calibration method provided by the embodiments of the present application is shown in the figure. Figure 2 The scene diagram of the environment perception sensor calibration provided by the embodiments of the present application is shown in the figure. Figure 3 The position deviation diagram of the current position and the standard position of the environment perception sensor provided by the embodiments of the present application is shown in the figure. Figure 4 The second flowchart of the vehicle environment perception sensor calibration method provided by the embodiments of the present application is shown in the figure. Figure 5 The structure diagram of the vehicle environment perception sensor calibration device provided by the embodiments of the present application is shown in the figure. Figure 6 The structure diagram of the electronic device provided by the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present application more clear, the technical solutions in the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0021] In the following, the vehicle environment perception sensor calibration method and device provided by the embodiments of the present application will be described and explained in detail through several specific embodiments.

[0022] The vehicle is usually equipped with environmental perception sensors such as cameras, laser radars and millimeter wave radars for road detection to improve the safety of vehicle driving. The reliability of road detection needs to be based on the sensing results of each environmental perception sensor on the vehicle, so the environmental perception sensor needs to be calibrated before use.

[0023] For vehicles equipped with air suspensions, the height of the vehicle body of the vehicle equipped with the air suspension will dynamically change due to factors such as load and / or driving mode, etc. Therefore, when calibrating the environmental perception sensor of the vehicle equipped with the air suspension, the target is usually controlled to move to the target position set in the calibration mode, and the air suspension is controlled to adjust the height to control the position of the environmental perception sensor to match the height of the target. The standard position set in the calibration mode, and after detecting that the position of the environmental perception sensor is adjusted to the standard position set in the calibration mode, the calibration mode is entered, and the environmental perception sensor is calibrated based on the target. However, since the air suspension drives the suspension position change by air flow, the accuracy is worse than that of the mechanical type, and there is a large error in the adjusted height. Therefore, after controlling the air suspension to adjust the height, the actual position of the environmental perception sensor after adjustment may deviate from the standard position set in the calibration mode due to the insufficient adjustment accuracy of the air suspension, so that the condition for entering the calibration mode cannot be met, resulting in that the environmental perception sensor cannot be triggered to enter the calibration mode for calibration, so that the calibration of the environmental perception sensor fails or the height of the air suspension needs to be repeatedly adjusted to enter the calibration mode for calibration, affecting the calibration efficiency of the environmental perception sensor.

[0024] Therefore, in an embodiment, a vehicle environmental perception sensor calibration method is provided, which can be applied to an electronic device for calibrating the environmental perception sensor of a vehicle equipped with an air suspension. The electronic device can be a vehicle-mounted device or a server, wherein the vehicle-mounted device can include a VCU (Vehicle Control Unit) of the vehicle and / or a domain controller of the vehicle, etc., the server can be a standalone server or a server cluster composed of multiple servers, and can also be a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN, and big data and artificial intelligence sampling point device.

[0025] As shown in Figure 1 The vehicle environmental perception sensor calibration method provided by the embodiment includes: S101, in response to a control instruction for controlling the environmental perception sensor of the vehicle to enter a calibration mode, adjusting the air suspension of the vehicle according to a standard position set in the calibration mode to adjust the current position of the environmental perception sensor; S102, according to the position deviation between the current position of the adjusted environmental perception sensor and the standard position, compensating the initial position of the target for calibrating the environmental perception sensor, and controlling the environmental perception sensor to enter a calibration mode; The initial position of the target is a target position set in the calibration mode.

[0026] In some embodiments, the environmental perception sensor can be a laser radar, a millimeter wave radar, an ultrasonic radar, or a camera, etc. for collecting environmental information around the vehicle. The vehicle can be a new energy vehicle, such as a hybrid vehicle or a pure electric vehicle, etc. equipped with an air suspension and at least one environmental perception sensor. The environmental perception sensor can be mounted at any position of the vehicle body, such as the front, rear or side of the vehicle body.

[0027] When the environmental perception sensor of the vehicle needs to be calibrated, a target A' can be set within the detection distance of the environmental perception sensor A of the vehicle, so as to calibrate the environmental perception sensor A later, as shown in Figure 2 The operator can trigger a control instruction for controlling the environmental perception sensor of the vehicle to enter a calibration mode through a user terminal or a vehicle machine button. If the electronic device receives the control instruction for controlling the environmental perception sensor of the vehicle to enter the calibration mode, the standard position of the environmental perception sensor set in the calibration mode can be acquired in response to the control instruction. The standard position can be the standard height of the environmental perception sensor in the vehicle coordinate system, which can be set according to actual conditions. For example, the standard position of the environmental perception sensor in the calibration mode can be set as the position of the environmental perception sensor when the air suspension of the vehicle is at a default height. The default height can be the height of the air suspension when the driving mode of the vehicle is in a comfort mode. At the same time, the target position of the target in the calibration mode can be set in advance based on the standard position of the environmental perception sensor, such as setting the target height of the target in the calibration mode based on the standard height of the environmental perception sensor.

[0028] To avoid repeated calibration and affect the calibration efficiency, in some embodiments, the environmental perception sensor is not calibrated at a selectable position, the selectable position is determined as the standard position set in the calibration mode, and the initial position of the target is determined according to the standard position. The selectable position is determined according to the height adjustment range of the air suspension.

[0029] In some embodiments, since there is a height adjustment range of the air suspension, different heights of the suspension will cause different positions of the environmental perception sensor, and therefore the optional positions of the environmental perception sensor corresponding to different heights of the air suspension in the height adjustment range can be determined first. For any optional position, if the environmental perception sensor is not calibrated at the optional position, the optional position can be selected as the standard position set in the calibration mode to avoid repeated calibration.

[0030] Upon receiving the control instruction for controlling the environmental perception sensor to enter the calibration mode, the target position set in the calibration mode can be sent to the calibration device for adjusting the position of the target in response to the control instruction, so that the calibration device controls the target to move to the target position, and the target position is determined as the initial position of the target. For example, the target height set in the calibration mode is sent to the calibration device, so that the calibration device controls the target to move to the target height, and the target height is determined as the initial position of the target. At the same time, in response to the control instruction, the suspension height corresponding to the standard position is determined according to the standard position set in the calibration mode, i.e., the suspension height of the air suspension of the vehicle when the environmental perception sensor is located at the standard position, and the air suspension of the vehicle is adjusted according to the suspension height to adjust the current position of the environmental perception sensor.

[0031] For example, the standard position set in the calibration mode is the position of the environmental perception sensor when the air suspension of the vehicle is at the default height, and at this time the air suspension of the vehicle is at a low height. According to the standard position, the air suspension is controlled to rise to the default height. The low height can be the height of the air suspension when the driving mode of the vehicle is the sports mode.

[0032] Since the actuation accuracy of the air suspension is poor, it can reach ±5mm, so that there can be a position deviation between the current position of the environmental perception sensor after adjustment and the standard position. Therefore, after the lifting adjustment of the air suspension is completed to adjust the current position of the environmental perception sensor, the position deviation between the current position of the environmental perception sensor and the standard position can be detected. The current position of the environmental perception sensor can be the current height of the environmental perception sensor in the vehicle coordinate system.

[0033] One possible implementation is to obtain the air suspension travel or vehicle height using a height sensor configured in the air suspension, such as a Hall effect sensor or a linear displacement sensor. The relative height between the air suspension and the environmental sensing sensor is known, or the electronic device may have a pre-stored mapping model relating the environmental sensing sensor's installation position to the vehicle height. Therefore, the current position of the environmental sensing sensor can be determined using the air suspension travel and the relative height between the air suspension and the environmental sensing sensor; alternatively, the current position of the environmental sensing sensor can be calculated using the mapping model. After determining the current position of the environmental sensing sensor, the positional deviation between the current position and the standard position set in the calibration mode can be calculated. This positional deviation can be a height deviation. For example, the difference between the standard height set in the calibration mode and the current height of the environmental sensing sensor can be determined as the positional deviation.

[0034] As another possible implementation, the height difference between the actual height of the adjusted air suspension and the suspension height corresponding to the standard position set in the calibration mode can be determined as the position deviation. For example... Figure 3 As shown, assuming the default height range of the air suspension is [-2, 2], the low height range is [-12, -8], and the high height range is [8, 12], and the air suspension is in the low height range before adjustment, and the air suspension height corresponding to the standard position set in the calibration mode is the default height of 0, then when adjusting the vehicle's air suspension according to the standard position set in the calibration mode, the air suspension will rise from the low height. However, due to the influence of its adjustment accuracy, the actual height of the suspension after adjustment may be in the height range of [-6, -5], which does not reach the default height. At this time, the height difference between the default height and the actual height of the air suspension can be determined as the position deviation between the current position of the environmental perception sensor and the standard position after adjustment.

[0035] After obtaining the positional deviation between the current position and the standard position of the adjusted environmental perception sensor, the initial position of the target can be compensated based on this deviation. For example, based on this positional deviation, coordinate correction parameters for the target's initial position during environmental perception sensor calibration can be determined. In subsequent calibrations of the environmental perception sensor, the raw data of the target at its initial position can be compensated using these coordinate correction parameters, mapping the target's raw data to the coordinates corresponding to the current position of the environmental perception sensor. This corrects the target's data position and reduces the possibility of calibration errors.

[0036] After completing the initial position compensation of the target, the environmental perception sensor can be triggered to enter the calibration mode, execute the calibration process, calibrate the environmental perception sensor, map the calibration result with the current position of the environmental perception sensor, and record the calibration result of the environmental perception sensor at the current position.

[0037] In response to a control command that initiates calibration mode for the vehicle's environmental perception sensor, the vehicle's air suspension is adjusted according to a standard position set in the calibration mode. This adjusts the current position of the environmental perception sensor. Based on the positional deviation between the adjusted current position and the standard position, the initial position of the target used to calibrate the sensor is compensated, and then the environmental perception sensor is controlled to enter calibration mode. Therefore, when the actual position of the environmental perception sensor after adjustment deviates from the standard position set in the calibration mode due to air suspension adjustment errors, the calibration mode is triggered after positional compensation of the target based on this deviation. This avoids the calibration mode failing to trigger due to positional deviation and reduces calibration errors caused by positional deviation, thereby improving the calibration efficiency of the environmental perception sensor while ensuring its calibration accuracy.

[0038] To further avoid redundant calibration and improve calibration efficiency, in some embodiments, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position. This includes: Based on the current position of the adjusted environmental sensing sensor, it is determined that the environmental sensing sensor has not been calibrated at the current position. Based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor.

[0039] In some embodiments, for the current position of the adjusted environmental sensing sensor, the calibration records of the environmental sensing sensor can be traversed first to check whether there is a corresponding calibration record for the environmental sensing sensor at the current position. If there is a corresponding calibration record for the environmental sensing sensor at the current position, it can be determined that the environmental sensing sensor has been calibrated at the current position. At this time, the calibration process ends, and a prompt signal indicating that the environmental sensing sensor has been calibrated at the current position is generated to prompt the staff to readjust the position of the environmental sensing sensor for calibration, thus avoiding duplicate calibration.

[0040] If the environmental sensing sensor does not have a corresponding calibration record at the current location (e.g., the calibration record for the environmental sensing sensor at the current location is 0 or empty), it can be determined that the environmental sensing sensor has not been calibrated at that current location. In this case, based on the positional deviation between the current position of the environmental sensing sensor and the standard position after adjustment, the initial position of the target is compensated, and the environmental sensing sensor is controlled to enter calibration mode to execute the current calibration process. This avoids repeated calibration of the environmental sensing sensor at the same location, improving calibration efficiency.

[0041] To further improve calibration efficiency, in some embodiments, if it is determined that the environmental perception sensor has been calibrated at the current position based on the adjusted current position of the environmental perception sensor, then the air suspension of the vehicle is readjusted according to the position deviation to readjust the current position of the environmental perception sensor.

[0042] In some embodiments, if the environmental perception sensor has a corresponding calibration record at the current position, it can be determined that the environmental perception sensor has been calibrated at the current position. In this case, the current height of the vehicle's air suspension can be readjusted according to the position deviation, such as the height deviation. For example, if the height deviation is -5mm, a control command to raise the air suspension by 5mm can be issued to readjust the current height of the air suspension, thereby readjusting the current position of the environmental perception sensor. If the current position of the adjusted environmental perception sensor is inconsistent with the standard position set in the calibration mode, and the environmental perception sensor also has a calibration record at this current position, then repeat the above steps to readjust the vehicle's air suspension based on the positional deviation between the current position of the adjusted environmental perception sensor and the standard position, in order to readjust the current position of the environmental perception sensor. If the current position of the adjusted environmental perception sensor is consistent with the standard position set in the calibration mode, then the environmental perception sensor can be triggered to enter the calibration mode. If the current position of the adjusted environmental perception sensor is inconsistent with the standard position set in the calibration mode, but the environmental perception sensor has not been calibrated at this current position, then the initial position of the target can be compensated based on the positional deviation between the current position of the adjusted environmental perception sensor and the standard position before the environmental perception sensor is triggered to enter the calibration mode.

[0043] To improve calibration efficiency while ensuring the accuracy of environmental sensing sensor calibration, in some embodiments, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position. This includes: The positional deviation between the current position and the standard position is determined to be within a preset deviation range. Based on the adjusted positional deviation between the current position of the environmental sensing sensor and the standard position, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor. The preset deviation range is determined based on the effective detection radius of the environmental perception sensor.

[0044] In some embodiments, the positional deviation between the current position and the standard position of the environmental sensing sensor can be detected first to determine if it is within the effective detection radius of the sensor. If so, it indicates that even with a positional deviation, the environmental sensing sensor can still effectively detect the target at its initial position. In this case, position compensation is performed on the target's initial position based on the positional deviation to avoid the sensor failing to detect the target after compensation due to excessive deviation, or to avoid large compensation errors due to excessive deviation. This effectively reduces invalid compensation and the amount of compensation required for the target's initial position, improving the reliability of the environmental sensing sensor's calibration results.

[0045] In some embodiments, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor based on the position deviation between the adjusted current position of the environmental sensing sensor and the standard position, including: The position of the target is adjusted based on the positional deviation between the current position and the standard position, as well as the initial position of the target.

[0046] In some embodiments, after determining the positional deviation between the current position of the environmental sensing sensor and the standard position, the positional deviation can be sent to a calibration device that controls the movement of the target, so that the calibration device can adjust the position of the target according to the positional deviation and the initial position of the target. For example, assuming the positional deviation is a height deviation of -5mm, meaning the current position of the environmental sensing sensor is 5mm lower than the standard position, the height deviation can be sent to the calibration device that controls the movement of the target, so that the calibration device controls the target to lower by 5mm from its initial position, aligning the target with the environmental sensing sensor and meeting the calibration requirements.

[0047] After adjusting the target's position, the calibration equipment can send a notification signal to the electronic device indicating that the target's position adjustment is complete. If the electronic device receives this notification signal, it confirms that the target's position compensation has been completed. In response, it controls the environmental perception sensor to enter calibration mode, thus initiating the calibration process. This allows for the readjustment of the target's physical position based on positional deviations, such as adjusting the target's physical height. This effectively eliminates positional errors present during calibration without introducing new coordinate transformations or errors, thereby significantly improving the accuracy of subsequent environmental perception sensor calibration.

[0048] In some embodiments, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor based on the position deviation between the adjusted current position of the environmental sensing sensor and the standard position, including: Based on the positional deviation between the current position and the standard position, the coordinate correction parameters of the initial position of the target are determined when calibrating the environmental perception sensor using the initial position of the target.

[0049] In some embodiments, if the positional deviation between the current position and the standard position of the environmental sensing sensor is within a preset deviation range (i.e., within the effective detection radius of the environmental sensing sensor), the environmental sensing sensor can still detect the target at the initial position. Therefore, when the positional deviation between the current position and the standard position of the environmental sensing sensor is within the preset deviation range, coordinate correction parameters are determined based on the positional deviation between the current position and the standard position of the environmental sensing sensor. These coordinate correction parameters are then used to compensate for the raw data of the target at the initial position during subsequent calibration, mapping the raw data of the target to the coordinate position corresponding to the current position of the environmental sensing sensor, thus correcting the target's data position. This reduces the possibility of calibration errors and saves the time required for physical target movement, making the calibration process faster and more efficient.

[0050] In some embodiments, the method further includes: If the positional deviation between the current position and the standard position is determined to be outside the preset deviation range, an alarm message is generated indicating that the air suspension has an adjustment abnormality.

[0051] In some embodiments, if the position deviation between the current position and the standard position of the environmental perception sensor is outside a preset deviation range, it indicates that the position deviation of the environmental perception sensor is large and the sensor cannot effectively detect the target at the initial position. In this case, an alarm message indicating an adjustment abnormality in the air suspension can be generated to prompt the user to re-inspect and adjust the air suspension, preventing the adjustment accuracy of the air suspension from continuously affecting the calibration of the environmental perception sensor. Furthermore, the calibration of the environmental perception sensor can be used to detect whether there is an adjustment fault in the vehicle's air suspension, thereby improving the calibration success rate and accuracy while reducing potential safety risks and rework costs caused by hidden air suspension faults.

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below. In some embodiments, such as Figure 4 As shown, the calibration method for the vehicle's environmental perception sensors includes: S201: In response to a control command that controls the vehicle's environmental perception sensor to enter calibration mode, adjust the vehicle's air suspension according to the standard position set in the calibration mode to adjust the current position of the environmental perception sensor.

[0053] The standard position refers to the standard height of the environmental perception sensor in the vehicle coordinate system; the environmental perception sensor has not been calibrated when it is in this standard position.

[0054] S202: Check whether the environmental perception sensor has been calibrated at the adjusted current position; if yes, proceed to S203; otherwise, proceed to S204.

[0055] S203, based on the positional deviation, readjust the vehicle's air suspension to readjust the current position of the environmental perception sensor, and return to S202.

[0056] S204, check whether the position deviation between the current position after adjustment by the environmental perception sensor and the standard position is within the preset deviation range; if yes, execute S205, otherwise execute S206.

[0057] S205, based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, after positional compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor, the environmental sensing sensor is controlled to enter the calibration mode.

[0058] The initial position of the target is the target position set in the calibration mode. Position compensation for the initial position of the target can be performed by adjusting the target position based on the positional deviation between the current position and the standard position, as well as the initial position of the target; or, based on the positional deviation between the current position and the standard position, determining the coordinate correction parameters of the target's initial position when calibrating the environmental perception sensor using the target's initial position.

[0059] S206, generate an alarm message indicating that the air suspension adjustment is abnormal.

[0060] The vehicle environmental perception sensor calibration device provided in this application is described below. The vehicle environmental perception sensor calibration device described below and the vehicle environmental perception sensor calibration method described above can be referred to in correspondence.

[0061] In one embodiment, such as Figure 5 As shown, a vehicle environmental perception sensor calibration device is provided, comprising: The position adjustment module 210 is used to adjust the air suspension of the vehicle in response to a control command that controls the environmental perception sensor of the vehicle to enter the calibration mode, so as to adjust the current position of the environmental perception sensor according to the standard position set by the calibration mode. The calibration control module 220 is used to compensate the initial position of the target used to calibrate the environmental sensing sensor based on the position deviation between the current position of the adjusted environmental sensing sensor and the standard position, and then control the environmental sensing sensor to enter the calibration mode. The initial position of the target is the target position set by the calibration mode.

[0062] In response to a control command that commands the vehicle's environmental perception sensor to enter calibration mode, the vehicle's air suspension is adjusted according to a standard position set in the calibration mode. This adjusts the current position of the environmental perception sensor. Based on the positional deviation between the adjusted current position of the environmental perception sensor and the standard position, the initial position of the target used to calibrate the sensor is compensated, and then the environmental perception sensor is controlled to enter calibration mode. Therefore, when the actual position of the environmental perception sensor after adjustment deviates from the standard position set in the calibration mode due to air suspension adjustment errors, the calibration mode is triggered after positional compensation of the target based on the deviation. This avoids the calibration mode failing to trigger due to positional deviation and reduces calibration errors caused by positional deviation, thereby improving the calibration efficiency of the environmental perception sensor while ensuring its calibration accuracy.

[0063] In one embodiment, the calibration control module 220 is specifically used for: Based on the current position of the adjusted environmental sensing sensor, it is determined that the environmental sensing sensor has not been calibrated at the current position. Based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor.

[0064] In one embodiment, the calibration control module 220 is specifically used for: The positional deviation between the current position and the standard position is determined to be within a preset deviation range. Based on the adjusted positional deviation between the current position of the environmental sensing sensor and the standard position, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor. The preset deviation range is determined based on the effective detection radius of the environmental perception sensor.

[0065] In one embodiment, the calibration control module 220 is specifically used for: The position of the target is adjusted based on the positional deviation between the current position and the standard position, as well as the initial position of the target.

[0066] In one embodiment, the calibration control module 220 is specifically used for: Based on the positional deviation between the current position and the standard position, the coordinate correction parameters of the initial position of the target are determined when calibrating the environmental perception sensor using the initial position of the target.

[0067] In one embodiment, the calibration control module 220 is further configured to: Based on the current position of the adjusted environmental perception sensor, it is determined that the environmental perception sensor has been calibrated at the current position. Based on the position deviation, the vehicle's air suspension is readjusted to readjust the current position of the environmental perception sensor.

[0068] In one embodiment, if the environmental sensing sensor is not calibrated at a certain selectable position, the selectable position is determined as the standard position set by the calibration mode, and the initial position of the target is determined according to the standard position; the selectable position is determined according to the height adjustment range of the air suspension.

[0069] In one embodiment, the calibration control module 220 is further configured to: If the positional deviation between the current position and the standard position is determined to be outside the preset deviation range, an alarm message is generated indicating that the air suspension has an adjustment abnormality.

[0070] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call a computer program in the memory 830 to execute a vehicle environmental perception sensor calibration method, such as including: In response to a control command that controls the vehicle's environmental perception sensor to enter a calibration mode, the vehicle's air suspension is adjusted according to a standard position set in the calibration mode to adjust the current position of the environmental perception sensor. Based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, the initial position of the target used to calibrate the environmental sensing sensor is compensated, and then the environmental sensing sensor is controlled to enter the calibration mode. The initial position of the target is the target position set by the calibration mode.

[0071] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0072] On the other hand, embodiments of this application also provide a storage medium, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the vehicle environmental perception sensor calibration method provided in the above embodiments, for example including: In response to a control command that controls the vehicle's environmental perception sensor to enter a calibration mode, the vehicle's air suspension is adjusted according to a standard position set in the calibration mode to adjust the current position of the environmental perception sensor. Based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, the initial position of the target used to calibrate the environmental sensing sensor is compensated, and then the environmental sensing sensor is controlled to enter the calibration mode. The initial position of the target is the target position set by the calibration mode.

[0073] In some embodiments, a vehicle is also provided, including the electronic equipment described in the above embodiments.

[0074] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0075] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for calibrating a vehicle's environmental perception sensor, characterized in that, include: In response to a control command that controls the vehicle's environmental perception sensor to enter a calibration mode, the vehicle's air suspension is adjusted according to a standard position set in the calibration mode to adjust the current position of the environmental perception sensor. Based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, the initial position of the target used to calibrate the environmental sensing sensor is compensated, and then the environmental sensing sensor is controlled to enter the calibration mode. The initial position of the target is the target position set by the calibration mode.

2. The vehicle environmental perception sensor calibration method according to claim 1, characterized in that, Based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor, including: Based on the current position of the adjusted environmental sensing sensor, it is determined that the environmental sensing sensor has not been calibrated at the current position. Based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor.

3. The vehicle environmental perception sensor calibration method according to claim 1, characterized in that, Based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor, including: The positional deviation between the current position and the standard position is determined to be within a preset deviation range. Based on the adjusted positional deviation between the current position of the environmental sensing sensor and the standard position, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor. The preset deviation range is determined based on the effective detection radius of the environmental perception sensor.

4. The method for calibrating a vehicle's environmental perception sensor according to any one of claims 1-3, characterized in that, Based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor, including: The position of the target is adjusted based on the positional deviation between the current position and the standard position, as well as the initial position of the target.

5. The vehicle environmental perception sensor calibration method according to claim 3, characterized in that, Based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, position compensation is performed on the initial position of the target used to calibrate the environmental sensing sensor, including: Based on the positional deviation between the current position and the standard position, the coordinate correction parameters of the initial position of the target are determined when calibrating the environmental perception sensor using the initial position of the target.

6. The vehicle environmental perception sensor calibration method according to claim 2, characterized in that, Also includes: Based on the current position of the adjusted environmental perception sensor, it is determined that the environmental perception sensor has been calibrated at the current position. Based on the position deviation, the vehicle's air suspension is readjusted to readjust the current position of the environmental perception sensor.

7. The vehicle environmental perception sensor calibration method according to claim 1, characterized in that, If the environmental sensing sensor is not calibrated at a certain selectable position, the selectable position is determined as the standard position set by the calibration mode, and the initial position of the target is determined according to the standard position; the selectable position is determined according to the height adjustment range of the air suspension.

8. The vehicle environmental perception sensor calibration method according to claim 3, characterized in that, Also includes: If the positional deviation between the current position and the standard position is determined to be outside the preset deviation range, an alarm message is generated indicating that the air suspension has an adjustment abnormality.

9. A vehicle environmental perception sensor calibration device, characterized in that, include: The position adjustment module is used to respond to the control command that controls the vehicle's environmental perception sensor to enter the calibration mode, and adjust the vehicle's air suspension according to the standard position set in the calibration mode to adjust the current position of the environmental perception sensor. The calibration control module is used to compensate the initial position of the target used to calibrate the environmental sensing sensor based on the positional deviation between the current position of the adjusted environmental sensing sensor and the standard position, and then control the environmental sensing sensor to enter the calibration mode. The initial position of the target is the target position set by the calibration mode.

10. An electronic device comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the vehicle environmental perception sensor calibration method according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 8.

12. A vehicle, characterized in that, Including the electronic device as described in claim 10.

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