Method for kinematic parameter calibration of a vehicle in crab mode

Abstract

This application relates to a method for calibrating the kinematic parameters of a vehicle (1) in crab mode. The method includes: taking a first lane line in a vehicle test site as the starting position, controlling the vehicle (1) to travel from the starting position along a planned crab path towards a second lane line in crab mode, wherein the vehicle test site has a first lane line and a second lane line that are parallel to each other, and setting equal front and rear wheel steering angles of the vehicle (1) based on the expected crab angle of the planned crab path in crab mode; during the process of controlling the vehicle (1) to travel towards the second lane line, detecting the actual crab angle of the vehicle (1) with the first lane line as a reference, and adjusting the front wheel steering angle and / or rear wheel steering angle of the vehicle (1) based on the angle deviation between the actual crab angle and the expected crab angle of the planned crab path, so that the angle deviation is reduced to less than or equal to a pre-given deviation threshold.

Description

Technical Field

[0001] This application relates to the field of vehicles, and in particular to a method for calibrating kinematic parameters of a vehicle in crab mode, a kinematic parameter calibration system, a vehicle including the kinematic parameter calibration system according to this application, and a computer program product. Background Technology

[0002] For conventional vehicles that can only perform front-wheel steering, motion parameters can be collected as the vehicle performs specific movements along a planned path, and these collected parameters can be used to calibrate the vehicle's kinematic parameters. However, for vehicles with independent rear-wheel steering, since the angles of the left and right rear wheels are completely consistent, the rear wheels no longer exhibit an Ackermann angle, and traditional kinematic parameter calibration methods often result in significant deviations.

[0003] Therefore, there is an urgent need to develop a method for calibrating the kinematic parameters of vehicles with rear-wheel steering. Summary of the Invention

[0004] The purpose of this application is to provide a method for calibrating kinematic parameters of a vehicle in crab mode, a kinematic parameter calibration system, a vehicle including the kinematic parameter calibration system according to this application, and a computer program product, to at least partially solve the problems in the prior art.

[0005] According to a first aspect of this application, a method for calibrating kinematic parameters of a vehicle in crab mode is provided, the method comprising: - Taking the first lane line in the vehicle test site as the starting position, the vehicle can be controlled to travel from the starting position along the planned crab path towards the second lane line in crab mode. The first lane line and the second lane line are parallel to each other in the vehicle test site. In the crab mode, the front and rear wheel steering angles of the vehicle are set equally based on the expected crab angle of the planned crab path. - During the process of controlling the vehicle to travel toward the second lane line, the actual crab angle of the vehicle is detected with the first lane line as a reference, and the front wheel steering angle and / or rear wheel steering angle of the vehicle are adjusted based on the angle deviation between the actual crab angle and the expected crab angle of the planned crab path, so that the angle deviation is reduced to less than or equal to a pre-given deviation threshold.

[0006] The core concept of this application is to detect the actual crab-walking angle of a vehicle by using the lane lines in the vehicle test site as a reference during the crab-walking process, and to adjust the steering angles of the front and rear wheels of the vehicle based on the angular deviation between the actual crab-walking angle and the expected crab-walking angle of the planned crab-walking path, so as to correct the deviation between the actual crab-walking path and the planned crab-walking path, thereby completing the kinematic parameter calibration of a vehicle with rear-wheel steering function with high precision in a low-tech manner.

[0007] According to an optional embodiment of this application, during the process of controlling the vehicle to travel toward the second lane line, the lateral displacement and longitudinal displacement of the vehicle relative to the starting position can be detected, and the actual crab angle of the vehicle can be determined based on the detected lateral displacement and longitudinal displacement.

[0008] According to another optional embodiment of this application, crab-walking paths with different desired crab-walking angles can be planned, and the vehicle can be controlled to travel from the starting position along the planned crab-walking paths toward the second lane line in crab-walking mode.

[0009] According to another optional embodiment of this application, the first lane lines and the second lane lines that are parallel to each other in the vehicle testing area can be straight lane lines that are parallel to each other.

[0010] According to another optional embodiment of this application, during the process of controlling the vehicle to travel from the starting position along the planned crab path towards the second lane line in crab mode, the lateral distance between the vehicle and the second lane line can be detected, and the driving speed of the vehicle in crab mode can be controlled so that the vehicle stops at a predetermined lateral distance between the vehicle and the second lane line.

[0011] According to a second aspect of this application, a kinematic parameter calibration system is provided, the kinematic parameter calibration system comprising the following components: - Displacement detection unit, which is configured to detect the actual crab angle of the vehicle with reference to the first lane line; - A control unit configured to perform the method according to this application.

[0012] According to another optional embodiment of this application, the displacement detection unit may include a lateral displacement detection unit and a longitudinal displacement detection unit. The lateral displacement detection unit can detect the lateral displacement of the vehicle relative to the starting position and the lateral distance between the vehicle and the second lane line. The lateral displacement detection unit may include one or more of the following devices: an onboard camera, millimeter-wave radar, side-mounted lidar, etc. The longitudinal displacement detection unit can detect the longitudinal displacement of the vehicle relative to the starting position, wherein the longitudinal displacement detection unit includes, for example, wheel speed sensors and steering angle sensors.

[0013] According to another optional embodiment of this application, the vehicle-mounted camera may include one or more of the following cameras: a side fisheye camera, a front side camera, and a rear side camera, etc.

[0014] According to another optional embodiment of this application, the millimeter-wave radar may include one or more of the following devices: front-angle millimeter-wave radar and rear-angle millimeter-wave radar, etc.

[0015] According to a third aspect of this application, a vehicle is provided, which may include a kinematic parameter calibration system according to this application.

[0016] According to a fourth aspect of this application, a computer program product, such as a computer-readable program carrier, is provided, comprising or storing computer program instructions that, when executed by a processor, at least partially implement the steps of the method described in this application. Attached Figure Description

[0017] The principles, features, and advantages of this application can be better understood by describing it in more detail below with reference to the accompanying drawings. The drawings show: Figure 1 A flowchart illustrating a method for calibrating kinematic parameters of a vehicle in crab mode according to an exemplary embodiment of this application is provided. Figure 2 A schematic diagram of a vehicle testing scenario according to an exemplary embodiment of this application is shown; Figure 3 A schematic diagram of a vehicle testing scenario according to another exemplary embodiment of this application is shown; Figure 4 A schematic diagram of a vehicle according to an exemplary embodiment of this application is shown. Detailed Implementation

[0018] To make the technical problems to be solved, the technical solutions, and the beneficial technical effects of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit the scope of protection of this application.

[0019] Figure 1 A flowchart illustrating a method for kinematic parameter calibration of a vehicle in crabging mode according to an exemplary embodiment of this application is shown. The following exemplary embodiments describe the method according to this application in more detail. The method can be performed by a kinematic parameter calibration system 10 of vehicle 1.

[0020] like Figure 1 The method may include steps S1 and S2. In step S1, starting from the first lane line in the vehicle testing area, vehicle 1 can be controlled to travel in crab mode from the starting position along a planned crab path towards the second lane line. The vehicle testing area has a first lane line and a second lane line that are parallel to each other. Figure 2 The illustrated vehicle testing scenario diagram according to an exemplary embodiment of this application shows that the first lane line M1 (i.e., the right lane line) and the second lane line M2 (i.e., the left lane line), which are parallel to each other, are parallel straight lane lines. These two straight lane lines are, for example, white and spaced between each other, for example, between 10m and 20m. Before performing the vehicle's kinematic parameter calibration process, the vehicle 1 is parked at the first lane line M1 in the vehicle testing area in such a way that the right side of the vehicle 1 is arranged parallel to and against the first lane line M1 at any position on the first lane line M1, such that the vertical projection line of the outline of the right side of the vehicle 1 onto the test area ground is aligned with the inner boundary line of the first lane line M1. Thus, the vehicle 1 can perform a crab-like movement mode starting from the vehicle's parking position at the first lane line M1.

[0021] In the current embodiment of this application, vehicle 1 is equipped with independent rear-wheel steering, thereby enabling independent control of the front and rear wheel steering angles of vehicle 1. The front and rear wheel steering angles of vehicle 1 can be set to be equal, thereby controlling vehicle 1 to move in a crab walk mode. In this crab walk mode, vehicle 1 can be controlled to move along a diagonal crab walk path in a diagonal direction (i.e., the front and rear wheel steering angles are the same and both are equal angles less than 90°), or along a straight crab walk path perpendicular to the side of vehicle 1 in a lateral direction (i.e., the front and rear wheel steering angles are the same and both are equal to 90°). In the context of this application, the crab walk path can be understood as either a diagonal straight path or a lateral straight path perpendicular to the side of vehicle 1 during crab walk mode. This diagonal straight path or lateral straight path can be defined by the stopping position of vehicle 1 at the first lane line M1 (i.e.,...). Figure 2 or Figure 3 The starting point of the path is the location marked by numeral 1 in the attached diagram, and any one of the following locations at the second lane line M2 (i.e.) Figure 2 or Figure 3 The location marked by the reference numeral 1'' in the attached diagram is taken as the end point of the path: the left side of vehicle 1'' is against the second lane line M2 at the location mentioned above, such that the vertical projection of the location mark of the left side of vehicle 1'' onto the test site ground overlaps with the inner boundary line of the second lane line M2 at that location.

[0022] Using the vehicle 1's stopping position at the first lane line M1 as the starting point of the crab-walking path, crab-walking paths with different desired crab-walking angles β can be planned. The desired crab-walking angle β is the angle between the planned crab-walking path and the longitudinal axis of vehicle 1. Here, one or more of the following body parts of vehicle 1 can be used as position markers for the crab-walking trajectory of vehicle 1: the center point of the rear axle of vehicle 1, the outermost edge of the right rear tire of vehicle 1, the outermost edge of the left rear tire of vehicle 1, the front corner of the right side profile of vehicle 1, the rear corner of the right side profile of vehicle 1, the front corner of the left side profile of vehicle 1, the rear corner of the left side profile of vehicle 1, etc. For example, in... Figure 2In the vehicle test scenario diagram, the front corner of the right side of vehicle 1's body contour is used as the location marker for the crab-walking trajectory. The planned crab-walking path of vehicle 1 can be marked with a solid arrow. Since the longitudinal axis of vehicle 1 is parallel to the first lane line at the starting position, the expected crab-walking angle β can also be the angle between the planned crab-walking path and the first lane line M1, i.e., the angle between the solid arrow and the first lane line M1. For example, a first crab-walking path with a first expected crab-walking angle of 1°, a second crab-walking path with a second expected crab-walking angle of 3°, a third crab-walking path with a third expected crab-walking angle of 5°, a fourth crab-walking path with a fourth expected crab-walking angle of 7°, a fifth crab-walking path with a fifth expected crab-walking angle of 10°, and so on, can be planned.

[0023] exist Figure 3 In another vehicle test scenario diagram, the front corner of the right side profile of vehicle 1 is also used as the location marker for the crab-walking trajectory. The stopping position of vehicle 1 at the first lane line M1 is taken as the starting point of the crab-walking path. For example, a sixth crab-walking path with a sixth desired crab-walking angle of 90° can be planned. The sixth crab-walking path is a lateral straight path perpendicular to the side of vehicle 1. The desired crab-walking angle β is the angle between the planned crab-walking path and the longitudinal axis of vehicle 1. Since the longitudinal axis of vehicle 1 is parallel to the first lane line M1 at the starting position, the desired crab-walking angle β can also be the angle between the planned crab-walking path and the first lane line M1, as indicated by the solid arrow.

[0024] For each planned crab-walking path, vehicle 1 can be controlled to travel from the starting position along the planned crab-walking path towards the second lane in crab-walking mode, and the kinematic parameter calibration process of vehicle 1 in crab-walking mode can be performed respectively. For example, in the first kinematic parameter calibration process, vehicle 1 can be controlled to travel from the starting position along the first crab-walking path with a first desired crab-walking angle of 1° towards the second lane in crab-walking mode; in the second kinematic parameter calibration process, vehicle 1 can be controlled to travel from the starting position along the second crab-walking path with a second desired crab-walking angle of 3° towards the second lane in crab-walking mode; in the third kinematic parameter calibration process, vehicle 1 can be controlled to travel from the starting position along the third crab-walking path with a third desired crab-walking angle of 5° towards the second lane in crab-walking mode, and so on.

[0025] In step S2, during the process of controlling vehicle 1 to travel towards the second lane line M2, the actual crab-walking angle α of vehicle 1 can be detected with the first lane line M1 as a reference. Based on the angular deviation between the actual crab-walking angle α and the expected crab-walking angle β of the planned crab-walking path, the front wheel steering angle and / or rear wheel steering angle of vehicle 1 are adjusted, so that the angular deviation is reduced to less than or equal to a pre-given deviation threshold. Here, the actual crab-walking angle α of vehicle 1 can be expressed as the actual crab-walking trajectory of vehicle 1 (which is located in...). Figure 2 The angle between the vehicle 1 (marked with a dashed one-way arrow) and the first lane line M1. During the process of vehicle 1 traveling from the starting position towards the second lane line M2 along the planned crab path in crab mode, for example, when the vehicle reaches the position marked with reference numeral 1', the lateral displacement Lx and longitudinal displacement Ly of vehicle 1' relative to the starting position can be detected by the lateral displacement detection unit 11 and the longitudinal displacement detection unit 12, respectively, and the actual crab angle α of vehicle 1' can be determined based on the detected lateral and longitudinal displacements.

[0026] Here, the lateral displacement Lx represents the position of the marked point on vehicle 1' (in Figure 2 or Figure 3In the test scenario, the lateral displacement Lx is the position of the front corner of the right side profile of vehicle 1' relative to the marked point position of vehicle 1 at the starting position or the lateral distance of the inner boundary line of the first lane line M1. The lateral displacement Lx can be detected by one or more of the following lateral displacement detection units 11: vehicle-mounted camera, millimeter-wave radar, side-mounted lidar, etc. For example, the vehicle-mounted camera can collect image information about the side environment of vehicle 1, and generate the contour size and position information of the first lane line M1 in the side environment of vehicle 1 based on the collected image information. Then, based on the contour size and position information of the first lane line M1, the lateral distance of the front corner of the right side profile of vehicle 1' relative to the inner boundary line of the first lane line M1—that is, the lateral displacement Lx of vehicle 1'—can be determined. Here, the vehicle-mounted camera may include one or more of the following cameras: side fisheye camera, side front camera, and side rear camera, etc. For example, the millimeter-wave radar can acquire radar point cloud data about the side environment of vehicle 1, and extract the contour size and position information of the first lane line M1 in the side environment of vehicle 1 from the acquired radar point cloud data. Then, based on the contour size and position information of the first lane line M1, the lateral distance of the front corner of the right side profile of vehicle 1' relative to the inner boundary line of the first lane line M1—that is, the lateral displacement Lx of vehicle 1'—can be determined. The millimeter-wave radar includes, for example, one or more of the following devices: a front corner millimeter-wave radar and a rear corner millimeter-wave radar. For example, the lateral lidar can acquire three-dimensional point cloud information about the side environment of vehicle 1, and generate the contour size and position information of the first lane line M1 in the side environment of vehicle 1 based on the three-dimensional point cloud information. Then, based on the contour size and position information of the first lane line M1, the lateral distance of the front corner of the right side profile of vehicle 1' relative to the inner boundary line of the first lane line M1—that is, the lateral displacement Lx of vehicle 1'—can be determined.

[0027] The longitudinal displacement Ly represents the position of the marked point on vehicle 1' (in Figure 2 or Figure 3The longitudinal displacement Ly is the distance between the front corner of the right side of the vehicle body contour (in the test scenario) and the marked point position of the vehicle 1 at the starting position. The longitudinal displacement Ly can be detected, for example, by a longitudinal displacement detection unit 12 such as a wheel speed sensor and a steering angle sensor. Specifically, the steering angle sensor can detect the steering angle of the front and rear wheels of the vehicle, and the wheel speed sensor can detect the number of rotations of the front and rear wheels of the vehicle from the starting position. Based on the steering angle of the front and rear wheels of the vehicle, the tire size, and the number of rotations, the longitudinal distance traveled by the vehicle from the starting position can be calculated. The longitudinal distance is equal to the longitudinal displacement Ly of the marked point position of the vehicle 1' relative to the starting position. Ideally, the steering angles of the front and rear wheels of the vehicle 1 are completely equal, and the actual crab angle α of the vehicle 1 remains equal to the expected crab angle β of the vehicle 1. However, in reality, due to the possible slight deviation between the steering angles of the front and rear wheels of the vehicle 1, the actual crab trajectory of the vehicle 1 (which is located at the starting position) varies. Figure 2 or Figure 3 (marked with a dashed one-way arrow) and the planned crab trajectory (which is in) Figure 2 or Figure 3 There is a certain positional deviation between the actual crab-walking angle α and the expected crab-walking angle β of vehicle 1 (marked by solid arrows). Based on the angular deviation between the actual crab-walking angle α and the expected crab-walking angle β of the planned crab-walking path, the front wheel steering angle and / or rear wheel steering angle of vehicle 1 can be adjusted to reduce the angular deviation to less than or equal to a pre-given deviation threshold, which is specifically equal to or close to 0. This eliminates the angular deviation between the actual crab-walking angle α and the expected crab-walking angle β of the planned crab-walking path, ensuring that the actual crab-walking trajectory of vehicle 1 overlaps with the planned crab-walking trajectory as much as possible.

[0028] For example in Figure 3In the vehicle test scenario shown, during the process of controlling vehicle 1 to travel from the starting position along the sixth crab path with a sixth desired crab angle of 90° towards the second lane line M2, ideally, the steering angle of each front and rear wheel of vehicle 1 is equal to 90°, and vehicle 1 can move laterally along a lateral straight path perpendicular to the side of vehicle 1. The longitudinal displacement Ly of vehicle 1' relative to the starting position is always equal to 0. However, in reality, due to the possible slight deviation between the steering angles of each front and rear wheel of vehicle 1', the longitudinal displacement Ly of vehicle 1' detected by the longitudinal displacement detection unit 12 relative to the starting position may be greater than 0. Therefore, the actual crab angle α of vehicle 1' can be determined based on the detected lateral displacement Lx and longitudinal displacement Ly, and the front wheel steering angle and / or rear wheel steering angle of vehicle 1' can be adjusted based on the angular deviation between the actual crab angle α and the desired crab angle β (i.e., 90°) of the planned crab path, so that the angular deviation is reduced to less than or equal to a pre-given deviation threshold.

[0029] During the process of controlling vehicle 1 to travel from the starting position along the planned crab-like path towards the second lane M2 in crab-like mode, the lateral displacement detection unit 11 can detect the lateral distance between vehicle 1 and the second lane M2, and control the speed of vehicle 1 in crab-like mode so that vehicle 1 is at a predetermined lateral distance between vehicle 1 and the second lane M2—that is... Figure 2 or Figure 3 The vehicle stops at the location marked by reference numeral 1'' in the attached diagram, thus completing one kinematic parameter calibration process. For example, using the front corner of the left side profile of vehicle 1' as a reference point, while controlling vehicle 1 to travel in crab mode from the starting position along the planned crab path towards the second lane line M2, one or more of the following lateral displacement detection units 11 can detect the contour size and position information of the second lane line M2: vehicle-mounted camera, millimeter-wave radar, side-mounted lidar, etc. When it is determined, based on the contour size and position information of the second lane line M2, that the lateral distance between the front corner of the left side profile of vehicle 1'' and the inner boundary line of the second lane line M2 is less than a predetermined distance threshold, vehicle 1 can be braked until vehicle 1'' stops at the following position on the second lane line M2: the left side of vehicle 1'' is against the second lane line M2 at that position, such that the vertical projection point of the front corner of the left side of vehicle 1'' on the test ground overlaps with the inner boundary line of the second lane line M2 at that position.

[0030] During the next kinematic parameter calibration process, vehicle 1 can be controlled to travel from the starting position in crab mode towards the second lane line along another crab path with another desired crab angle. During the driving process, the front wheel steering angle and / or rear wheel steering angle of vehicle 1 are adjusted based on the angle deviation between the actual crab angle and the desired crab angle of the planned other crab path, so that the angle deviation is reduced to less than or equal to a pre-given deviation threshold, and so on.

[0031] According to an embodiment of this application, during the crab-walking process of a vehicle, the actual crab-walking angle of the vehicle is detected using the lane lines in the vehicle test site as a reference. Based on the angular deviation between the actual crab-walking angle and the expected crab-walking angle of the planned crab-walking path, the steering angles of the front and rear wheels of the vehicle are adjusted to correct the deviation between the actual crab-walking path and the planned crab-walking path. This allows for the calibration of the kinematic parameters of a vehicle with rear-wheel steering function with high precision in a low-tech manner.

[0032] In addition, it should be noted that the step numbers described herein do not necessarily represent the order of steps, but are merely a reference numeral. The order may be changed depending on the specific circumstances, as long as the technical objective of this application can be achieved.

[0033] Figure 4 A schematic diagram of a vehicle according to an exemplary embodiment of this application is shown. Figure 4 As shown, vehicle 1 is equipped with a kinematic parameter calibration system 10, which may include the following components: - Displacement detection units 11 and 12 are configured to detect the actual crab angle of vehicle 1 with reference to the first lane line; - Control unit 13, which is configured to perform the method according to this application.

[0034] Here, the displacement detection unit may include a lateral displacement detection unit 11 and a longitudinal displacement detection unit 12. The lateral displacement detection unit 11 can detect the lateral displacement of the vehicle 1 relative to the starting position, as well as the lateral distance between the vehicle 1 and the second lane line. The lateral displacement detection unit 11 may include one or more of the following devices: an onboard camera, millimeter-wave radar, and side-mounted lidar. The onboard camera may include one or more of the following cameras: a side-mounted fisheye camera, a front-side camera, and a rear-side camera. The millimeter-wave radar may include one or more of the following devices: a front-angle millimeter-wave radar and a rear-angle millimeter-wave radar. The longitudinal displacement detection unit 12 can detect the longitudinal displacement of the vehicle 1 relative to the starting position, and the longitudinal displacement detection unit 12 may include, for example, a wheel speed sensor and a steering angle sensor.

[0035] It should be understood that the terms “first,” “second,” “third,” etc., used in this document are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated.

[0036] If an embodiment includes an "and / or" association between a first feature and a second feature, it should be interpreted as follows: according to one implementation, the embodiment has not only the first feature but also the second feature; according to another implementation, the embodiment has either only the first feature or only the second feature.

[0037] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of this application, even when only a single embodiment is described with respect to a particular feature. The feature examples provided in this application are intended for illustrative purposes and not for limitation, unless otherwise stated. In practice, multiple features may be combined with each other as needed and where technically feasible. Various substitutions, modifications, and alterations are also conceived without departing from the spirit and scope of this application.

Claims

1. A method for calibrating kinematic parameters of a vehicle (1) in crab mode, the method comprising: Starting from the first lane line in the vehicle test site, the vehicle (1) is controlled to travel from the starting position along the planned crab path towards the second lane line in the crab mode. In the vehicle test site, there are first lane lines and second lane lines that are parallel to each other. In the crab mode, the front and rear wheel steering angles of the vehicle (1) are set according to the expected crab angle of the planned crab path. During the process of controlling the vehicle (1) to travel toward the second lane line, the actual crab angle of the vehicle (1) is detected with the first lane line as a reference, and the front wheel steering angle and / or rear wheel steering angle of the vehicle (1) are adjusted based on the angle deviation between the actual crab angle and the expected crab angle of the planned crab path, so that the angle deviation is reduced to less than or equal to a pre-given deviation threshold.

2. The method according to claim 1, wherein, During the process of controlling the vehicle (1) to travel toward the second lane line, the lateral and longitudinal displacements of the vehicle (1) relative to the starting position are detected, and the actual crab angle of the vehicle (1) is determined based on the detected lateral and longitudinal displacements.

3. The method according to any one of the preceding claims, wherein, Plan crab-walking paths with different desired crab-walking angles, and control the vehicle (1) to travel from the starting position along the planned crab-walking paths toward the second lane line in crab-walking mode.

4. The method according to any one of the preceding claims, wherein, The first and second lane lines, which are parallel to each other, are straight lane lines that are parallel to each other in the vehicle testing area.

5. The method according to any one of the preceding claims, wherein, During the process of controlling the vehicle (1) to travel from the starting position along the planned crab path towards the second lane line in crab mode, the lateral distance between the vehicle (1) and the second lane line is detected, and the driving speed of the vehicle (1) in crab mode is controlled so that the vehicle (1) stops at a predetermined lateral distance between the vehicle (1) and the second lane line.

6. A kinematic parameter calibration system (10), the kinematic parameter calibration system (10) comprising the following components: Displacement detection units (11, 12) are configured to detect the actual crab angle of the vehicle (1) with reference to the first lane line; A control unit (13) is configured to perform the method according to any one of the preceding claims.

7. The kinematic parameter calibration system (10) according to claim 6, wherein, The displacement detection unit (11, 12) includes a lateral displacement detection unit (11) and a longitudinal displacement detection unit (12). The lateral displacement detection unit (11) detects the lateral displacement of the vehicle (1) relative to the starting position and the lateral distance between the vehicle (1) and the second lane line. The lateral displacement detection unit (11) includes one or more of the following devices: vehicle camera, millimeter-wave radar, and side-mounted lidar. The longitudinal displacement of the vehicle (1) relative to the starting position is detected by the longitudinal displacement detection unit (12), which includes, for example, a wheel speed sensor and a steering angle sensor.

8. The kinematic parameter calibration system (10) according to claim 7, wherein, The vehicle-mounted camera includes one or more of the following cameras: a side-mounted fisheye camera, a front-side camera, and a rear-side camera; and / or The millimeter-wave radar includes one or more of the following devices: front-angle millimeter-wave radar and rear-angle millimeter-wave radar.

9. A vehicle (1) comprising a kinematic parameter calibration system (10) according to any one of claims 6 to 8.

10. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions that, when executed by a processor, at least auxiliaryly implement the steps of the method according to any one of claims 1 to 5.

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