CN112710341A - Vehicle-mounted terminal, server, sensor calibration method and system - Google Patents
Vehicle-mounted terminal, server, sensor calibration method and system Download PDFInfo
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Abstract
The application discloses a vehicle-mounted terminal, a server, a sensor calibration method and a system, wherein the method comprises the following steps: acquiring a calibration request of a sensor to be calibrated, which is sent by a server; generating a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request, wherein the first control instruction is as follows: instructions for controlling the vehicle to move from a current position to a preset calibration position; after the vehicle is controlled to move to the preset calibration position, controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated; and sending the data to the server to calibrate the sensor to be calibrated. The technical problem that an existing method for calibrating the sensor of the unmanned automobile is low in efficiency is solved.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a vehicle-mounted terminal, a server and a sensor calibration method and system.
Background
With the development of science and technology, the application of the unmanned automobile is more and more popular. The unmanned automobile is an intelligent automobile, senses the surrounding environment of the automobile by using a sensor carried on the automobile, and controls the steering and the speed of the automobile according to the road, the position of the automobile and the information of obstacles obtained by sensing, so that the automobile can safely and reliably run on the road.
Sensor calibration is the basis for good sensors and is also a basic requirement for unmanned driving. The sensor calibration means that the input-output conversion relation of the sensor is determined through experiments. The existing sensor calibration for the unmanned automobile is as follows: the calibration method is inefficient in that the calibration tool is manually carried to the position of the vehicle, and then the sensor is calibrated by the calibration tool.
Disclosure of Invention
The application provides a vehicle-mounted terminal, a server, a sensor calibration method and a system, and solves the technical problem that the existing sensor calibration method for an unmanned vehicle is low in efficiency.
In view of this, a first aspect of the present application provides a sensor calibration method applied to a vehicle-mounted terminal, where the method includes:
acquiring a calibration request of a sensor to be calibrated, which is sent by a server;
generating a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request, wherein the first control instruction is as follows: instructions for controlling the vehicle to move from a current position to a preset calibration position;
after the vehicle is controlled to move to the preset calibration position, controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated;
and sending the data to the server to calibrate the sensor to be calibrated.
Optionally, the calibration request includes sensor information of the sensor to be calibrated;
generating a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request, wherein the first control instruction is as follows: the instruction for controlling the vehicle to move from the current position to the preset calibration position specifically comprises:
acquiring a preset calibration position corresponding to the sensor information based on a mapping relation between the sensor information and the preset calibration position according to the sensor information carried in the calibration request;
and generating a first control instruction for controlling the vehicle to move from the current position to a preset calibration position according to the current position of the vehicle carrying the sensor to be calibrated and the preset calibration position.
Optionally, the first control instruction includes: travel route and/or travel speed and/or start time.
Optionally, the sensor to be calibrated is a first sensor, and the second control instruction is a driving instruction;
controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated, and specifically comprising the following steps:
and controlling the vehicle to run by using the running instruction, and controlling the first sensor to collect data in the running process of the vehicle.
Optionally, the driving instruction includes: driving path and driving direction;
the method for controlling the vehicle to run by using the running command specifically comprises the following steps:
and controlling the vehicle to run along the running direction on the running path by utilizing the running path and the running direction.
Optionally, the sensor to be calibrated is a second sensor, and the second control instruction is a static instruction;
controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated, and specifically comprising the following steps:
and controlling the vehicle to be stationary by using the stationary command, and controlling the second sensor to collect data in the stationary process of the vehicle.
Optionally, in the stationary process of the vehicle, controlling the second sensor to collect data specifically includes:
and controlling the second sensor to collect data in the process that the vehicle is static and the turntable rotates, wherein the turntable is the turntable where the vehicle is located when the vehicle is static.
Optionally, the sensor includes a first sensor and a second sensor, and the second control instruction includes: driving instructions and static instructions;
controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated, and specifically comprising the following steps:
controlling the vehicle to run by using the running instruction, and controlling the first sensor to acquire first data in the running process of the vehicle;
controlling the vehicle to be static by using the static instruction, and controlling the second sensor to acquire second data in the static process of the vehicle;
sending the data to the server to calibrate the sensor to be calibrated, specifically comprising:
and sending the first data and the second data to the server so as to carry out corresponding calibration on the first sensor and the second sensor.
Optionally, a first preset calibration position corresponding to the first sensor is different from a second preset calibration position corresponding to the second sensor;
the first control instruction is as follows: and controlling the vehicle to move from the current position to the first preset calibration position and then from the first preset calibration position to the second preset calibration position, or controlling the vehicle to move from the current position to the second preset calibration position and then from the second preset calibration position to the first preset calibration position.
The second aspect of the present application provides a sensor calibration method, applied to a server, the method including:
sending a calibration request of a sensor to be calibrated to a vehicle-mounted terminal, so that the vehicle-mounted terminal generates a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request, and after the vehicle-mounted terminal controls the vehicle to move to a preset calibration position, controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated, wherein the first control instruction is as follows: instructions for controlling the vehicle to move from a current position to the preset calibration position;
and acquiring the data sent by the vehicle-mounted terminal to calibrate the sensor to be calibrated.
A third aspect of the present application provides a vehicle-mounted terminal, including:
the acquisition unit is used for acquiring a calibration request of a sensor to be calibrated, which is sent by the server;
a generating unit, configured to generate a first control instruction of a vehicle carrying the sensor to be calibrated, based on the calibration request, where the first control instruction is: instructions for controlling the vehicle to move from a current position to a preset calibration position;
the control unit is used for controlling the state of the vehicle by utilizing a second control instruction after controlling the vehicle to move to the preset calibration position so as to acquire data through the sensor to be calibrated;
and the sending unit is used for sending the data to the server so as to calibrate the sensor to be calibrated.
A fourth aspect of the present application provides a server, comprising:
the system comprises a sending unit, a calibration unit and a calibration unit, wherein the sending unit is used for sending a calibration request of a sensor to be calibrated to a vehicle-mounted terminal, so that the vehicle-mounted terminal generates a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request, and after the vehicle is controlled by the vehicle-mounted terminal to move to a preset calibration position, the state of the vehicle is controlled by a second control instruction, so that data are acquired through the sensor to be calibrated, and the first control instruction is as follows: instructions for controlling the vehicle to move from a current position to the preset calibration position;
and the acquisition unit is used for acquiring the data sent by the vehicle-mounted terminal so as to calibrate the sensor to be calibrated.
A fifth aspect of the present application provides a sensor calibration system, including: a vehicle-mounted terminal and a server;
the server is used for sending a calibration request of the sensor to be calibrated to the vehicle-mounted terminal;
the vehicle-mounted terminal is used for generating a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request; the vehicle state control system is also used for controlling the state of the vehicle by utilizing a second control instruction after controlling the vehicle to move to a preset calibration position so as to acquire data through the sensor to be calibrated; wherein the first control instruction is: instructions for controlling the vehicle to move from a current position to the preset calibration position;
the server is further used for acquiring the data sent by the vehicle-mounted terminal so as to calibrate the sensor to be calibrated.
From the above technical method, the present application has the following advantages:
according to the method, a first control instruction for controlling the vehicle carrying the sensor to be calibrated to move from the current position to the preset calibration position can be obtained based on the calibration request of the sensor to be calibrated, after the vehicle moves to the preset calibration position, the state of the vehicle is controlled by using a second control instruction, data collected by the sensor to be calibrated is controlled, and the collected data are sent to a server to calibrate the sensor to be calibrated.
Drawings
In order to more clearly illustrate the technical method in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic flowchart of a first embodiment of a sensor calibration method in an embodiment of the present application;
fig. 2 is a schematic flowchart of a second embodiment of a sensor calibration method in an embodiment of the present application;
fig. 3 is a schematic flowchart of a third embodiment of a sensor calibration method in an embodiment of the present application;
FIG. 4 is a schematic view illustrating a state of the vehicle when the calibration position is preset in the third embodiment;
fig. 5 is a schematic flowchart of a fourth embodiment of a sensor calibration method in an embodiment of the present application;
FIG. 6 is a schematic view for explaining the state of the vehicle in the fourth embodiment;
fig. 7 is a schematic flowchart of a fifth embodiment of a sensor calibration method in an embodiment of the present application;
fig. 8 is a schematic flowchart of a sixth embodiment of a sensor calibration method in an embodiment of the present application;
FIG. 9 is a schematic structural diagram of an embodiment of a vehicle-mounted terminal in an embodiment of the present application;
FIG. 10 is a schematic structural diagram of an embodiment of a server in an embodiment of the present application;
fig. 11 is a schematic structural diagram of an embodiment of a sensor calibration system in an embodiment of the present application.
Detailed Description
The embodiment of the application provides a vehicle-mounted terminal, a server, a sensor calibration method and a system, and solves the technical problem that the existing sensor calibration method for an unmanned vehicle is low in efficiency.
It should be understood that, the present application is applied to a sensor calibration system, please refer to fig. 11, fig. 11 is a schematic structural diagram of an embodiment of the sensor calibration system in the embodiment of the present application, as shown in fig. 11, fig. 11 includes a vehicle-mounted terminal 1101 and a server 1102; the vehicle-mounted terminal 1101 may control a state of a vehicle carrying a sensor to be calibrated, when the vehicle-mounted terminal 1101 obtains a calibration request of the sensor to be calibrated sent by the server, the vehicle-mounted terminal 1101 controls the state of the vehicle so as to collect data through the sensor to be calibrated, and the server 1102 may calibrate the sensor to be calibrated according to the collected data.
The application designs a sensor calibration method which can be realized by a vehicle-mounted terminal in the sensor calibration system, and the method is implemented by acquiring a first control instruction for controlling a vehicle carrying a sensor to be calibrated to move from a current position to a preset calibration position based on a calibration request of the sensor to be calibrated, and after the vehicle moves to the preset calibration position, the state of the vehicle is controlled by using a second control instruction, the sensor to be calibrated is controlled to collect data, the collected data is sent to the server, the calibration of the sensor to be calibrated is carried out under the control of the vehicle-mounted terminal in the whole process, including the movement of the vehicle from the current position to the preset calibration position and the control of the vehicle operation after the vehicle moves to the preset calibration position, without the participation of personnel in the control, so that the calibration efficiency of the sensor is improved, therefore, the technical problem that the existing method for calibrating the sensor of the unmanned automobile is low in efficiency is solved.
In order to make the method of the present application better understood, the technical method in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
A first aspect of the embodiments of the present application provides a sensor calibration method applied to a vehicle-mounted terminal, and specifically please refer to the following contents:
for easy understanding, please refer to fig. 1, where fig. 1 is a schematic flowchart of a first embodiment of a sensor calibration method in an embodiment of the present application.
The sensor calibration method in this embodiment includes:
The calibration request of the server side can be input by a worker, or the server side is provided with a calibration period, the server generates the calibration request every other calibration period, and after the server side obtains the calibration request, the server sends the calibration request to the vehicle-mounted terminal.
It is understood that the communication connection between the server and the vehicle-mounted terminal can be any of various existing ways, and those skilled in the art can set the connection as needed, and the detailed description is omitted here.
102, generating a first control instruction of a vehicle carrying a sensor to be calibrated based on a calibration request, wherein the first control instruction is as follows: and controlling the vehicle to move from the current position to the preset calibration position.
The preset calibration position of the sensor to be calibrated is mostly fixed, so that after the vehicle-mounted terminal obtains the calibration request, the vehicle carrying the sensor to be calibrated needs to be controlled to move from the current position to the preset calibration position.
It is understood that the preset calibration position may be carried in the calibration request sent by the server to the vehicle-mounted terminal, or may be configured in the vehicle-mounted terminal in advance. When the preset calibration position is sent by the server, the vehicle-mounted terminal generates a first control instruction based on the current position of the vehicle and the received preset calibration position. When the preset calibration position is configured in the vehicle-mounted terminal, a first control instruction is generated after the preset calibration position corresponding to the sensor to be calibrated is obtained based on the calibration request.
And 103, after the vehicle is controlled to move to the preset calibration position, controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated.
And after the vehicle moves to the preset calibration position under the control of the first control instruction, controlling the state of the vehicle at the preset calibration position by using a second control instruction so as to acquire data through the sensor to be calibrated.
And 104, sending data to a server to calibrate the sensor to be calibrated.
The vehicle-mounted terminal sends data collected by the sensor to be calibrated to the server, and the server calibrates the sensor to be calibrated based on the data.
In the embodiment, a first control instruction for controlling a vehicle carrying a sensor to be calibrated to move from a current position to a preset calibration position is obtained based on a calibration request of the sensor to be calibrated, after the vehicle moves to the preset calibration position, the state of the vehicle is controlled by using a second control instruction, data are collected by controlling the sensor to be calibrated, and the collected data are sent to a server to calibrate the sensor to be calibrated.
The above is a first embodiment of the sensor calibration method provided in the present embodiment, and the following is a second embodiment of the sensor calibration method provided in the present embodiment, where the second embodiment describes the first control command in detail on the basis of the first embodiment.
Referring to fig. 2, fig. 2 is a schematic flow chart of a second embodiment of a sensor calibration method in the embodiment of the present application.
The sensor calibration method in this embodiment includes:
The calibration request in this embodiment includes sensor information of the sensor to be calibrated. It is understood that sensor information includes, but is not limited to: sensor type, sensor name, sensor number, sensor identification.
In this embodiment, a mapping relationship is established between the sensor information and the preset calibration position, so that the preset calibration position corresponding to the sensor information can be obtained based on the mapping relationship when the sensor information is carried in the calibration request.
For example, when the sensor information is a sensor type, a mapping relationship is established between the sensor type and the preset calibration position, that is, each type of sensor corresponds to a preset calibration position, and after a calibration request of a certain type of sensor to be calibrated is obtained, the preset calibration position corresponding to the sensor type, that is, the preset calibration position corresponding to the sensor to be calibrated can be obtained based on the sensor type of the sensor to be calibrated and the mapping relationship. It is to be understood that the related descriptions of the sensor types and the mapping relationships are only schematic examples, and those skilled in the art can perform corresponding configurations of other sensor information according to the above-mentioned process, and will not be described herein again.
It can be understood that the mapping relationship may be configured in the vehicle-mounted terminal in advance, or may be carried in the calibration request sent by the server to the vehicle-mounted terminal, and a person skilled in the art may select the specific setting, which is not specifically limited and described herein.
After the preset calibration position of the sensor to be calibrated is obtained, the vehicle carrying the sensor to be calibrated is required to be controlled to move from the current position to the preset calibration position, and the moving process of the corresponding vehicle is controlled by the first control instruction.
Specifically, the first control instruction in this embodiment includes: travel route and/or travel speed and/or start time. It should be noted that, when the vehicle-mounted terminal determines that the current time is less than the starting time, the vehicle may be controlled to perform a local winding.
It is understood that the relevant driving parameters of the driving route, the driving speed, the starting time, etc. in the first control command may be determined according to the current driving parameters of the vehicle. For example, the running speed in the first control instruction and the current running speed of the vehicle are set to be the same, which avoids repeated calculation, switching, and the like of the speeds. Other similar settings can be set by those skilled in the art according to the needs, and are not described herein again.
It should be noted that, when the current position is the same as the preset calibration position, the driving route, the driving speed, and the starting time in the first control instruction may all be 0, that is, the vehicle does not drive at this time and is in a stationary state.
It is understood that the current position of the vehicle may be acquired by a positioning unit mounted on the vehicle. In one embodiment, an operator at a vehicle driving position acquires a first control instruction according to display equipment or voice equipment on a vehicle-mounted terminal, and controls the state of a vehicle according to preset calibration position information carried by the first control instruction; under another embodiment, the vehicle can also move to the preset calibration position autonomously according to an algorithm in the vehicle-mounted terminal or operated by a third terminal. The movement may be integrated in many different ways, and the embodiment does not limit the specific movement way.
And step 204, after the vehicle is controlled to move to the preset calibration position, controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated.
It should be noted that the description of step 204 is the same as the description of step 103 in the first embodiment, and reference may be specifically made to the description of step 103, which is not repeated herein.
And step 205, sending data to a server to calibrate the sensor to be calibrated.
It should be noted that the description of step 205 is the same as the description of step 104 in the first embodiment, and reference may be specifically made to the description of step 104, which is not repeated herein.
In this embodiment, the first control instruction for controlling the vehicle carrying the sensor to be calibrated to move from the current position to the preset calibration position is generated based on a mapping relationship between the sensor information of the sensor to be calibrated and the preset calibration position, the vehicle-mounted terminal can quickly acquire the preset calibration position corresponding to the sensor to be calibrated through the mapping relationship, and then the first control instruction is generated based on the current position of the vehicle and the preset calibration position.
The above embodiment two of the sensor calibration method provided in the embodiment of the present application is described below as an embodiment three of the sensor calibration method provided in the embodiment of the present application, and the detailed description is given to the calibration process when the sensor to be calibrated is the first sensor on the basis of the embodiment one.
Referring to fig. 3, fig. 3 is a schematic flow chart of a third embodiment of a sensor calibration method in the embodiment of the present application.
In this embodiment, the sensor to be calibrated is a first sensor, and when the sensor to be calibrated is the first sensor, the calibration method includes:
It should be noted that the first sensor in the present embodiment includes, but is not limited to, a laser radar and a millimeter wave radar.
It will be appreciated that the first control instruction may be derived in conjunction with the second control instruction. For example, when the second control instruction is a driving instruction, the related driving parameter of the first control instruction is controlled according to the related driving parameter of the second control instruction. Specifically, for seamless connection during vehicle running and avoiding operations such as parameter switching in the vehicle control process, the running speed corresponding to the first control instruction is set to be the same as the running speed corresponding to the second control instruction, and the end point of the preset calibration position corresponding to the first control instruction and the start point of the second control instruction are set to be the same position; or setting a first control instruction with speed change information to meet the condition that the speed of the vehicle reaching the end point of the first control instruction is just equal to the speed of the vehicle at the starting point of the second control instruction. Similarly, the driving direction of the first control instruction reaching the preset calibration position may be set to be the same as the driving direction of the second control instruction at the beginning, for example, the driving direction of the second control instruction at the beginning is from a to B, and then the vehicle may be controlled to reach the point a in the same direction, so that the seamless connection during the driving of the vehicle may be ensured, and the operation of turning around the vehicle may also be avoided. And 303, controlling the vehicle to run by using a running instruction after the vehicle is controlled to move to the preset calibration position, and controlling the first sensor to collect data in the running process of the vehicle.
It can be understood that after the vehicle moves to the preset calibration position, when the vehicle runs at the preset calibration position by using the running instruction, the running path and the running direction may be preset or random.
When the vehicle runs on the preset running path and the preset running direction, the running instruction comprises the following steps: driving path and driving direction;
the method for controlling the vehicle to run by utilizing the running command specifically comprises the following steps:
and controlling the vehicle to run along the running direction on the running path by utilizing the running path and the running direction.
It can be understood that, as shown in fig. 4, the preset calibration position may be a position of a certain intersection (the intersection is composed of a first road and a second road), and when the vehicle reaches the intersection, the preset calibration position controls the vehicle to travel along the traveling direction on the traveling path, which specifically includes:
controlling the vehicle to run along different directions of a first road;
and controlling the vehicle to run along different directions of the second road.
When the vehicle runs at the intersection, data are collected in different directions of different roads, and in the data collection process, the running of the vehicle does not make specific requirements from which road and which direction. For fluency and seamless connection in the vehicle control process, the relevant driving parameters of the second control instruction can be set based on the relevant driving parameters in the first control instruction. For example, the starting driving direction of the second control instruction at the preset calibration position is set as the driving direction of the vehicle controlled to reach the preset calibration position by the first control instruction. For example, the direction in which the vehicle reaches the preset calibration position by the first control instruction is the forward direction, and the driving direction of the second control at the preset calibration position is also the forward direction.
It will be appreciated that in one embodiment, the second control instruction may be executed separately, in particular in conjunction with the second control instruction and associated monitoring functions of the vehicle. The second control instruction may be suspended when the vehicle completes a part of the second control instruction, for example, after the vehicle completes data acquisition in one direction, and the vehicle route monitoring function is triggered at the same time, and when the vehicle monitors and identifies that the other part of the second control instruction passes through the other part of the second control instruction in the driving route, for example, when the other direction of the second control instruction is satisfied, the second control instruction is executed again at the preset calibration position to perform data acquisition. And the like, so that the operation of the second control instruction is completed under the state of not influencing daily driving.
And step 304, sending data to a server to calibrate the first sensor.
It should be noted that the description of step 304 is the same as the description of step 104 in the first embodiment, and reference may be specifically made to the description of step 104, which is not described herein again.
In this embodiment, the sensor to be calibrated is a first sensor, after the calibration request of the first sensor is obtained, a first control instruction that the vehicle carrying the first sensor moves from the current position to a preset calibration position is obtained, the vehicle is controlled to travel to the preset calibration position according to the first control instruction, the state of the vehicle is controlled by a second control instruction, data is collected by the first sensor, the collected data is sent to a server, the sensor to be calibrated is calibrated, the whole process is controlled by a vehicle-mounted terminal, personnel participation control is not needed, the calibration efficiency of the first sensor is improved, and therefore the technical problem that the efficiency of an existing sensor calibration method for an unmanned vehicle is low is solved.
The above embodiment three of the sensor calibration method provided in the embodiment of the present application is described below as an embodiment four of the sensor calibration method provided in the embodiment of the present application, and on the basis of the embodiment one, a detailed description is given to a calibration process when a sensor to be calibrated is a second sensor.
Referring to fig. 5, fig. 5 is a schematic flow chart of a fourth embodiment of a sensor calibration method according to an embodiment of the present application.
In this embodiment, the sensor to be calibrated is a second sensor, and when the sensor to be calibrated is the second sensor, the calibration method includes:
and step 501, obtaining a calibration request of a second sensor sent by a server.
The second sensor in this embodiment may be a traffic light camera, a 360-degree camera, or other sensors, and those skilled in the art may set the second sensor according to the calibration requirement, which is not described herein again.
It will be appreciated that the first control instruction may equally well be derived in combination with the second control instruction. For example, when the second control command is a standstill command, the relevant travel parameter of the first control command is controlled in accordance with the second control command. For example, the speed at which the first control command reaches the preset calibration position is set to be just 0, so that when the rest command of the second control command is required, no operation such as extra deceleration is required.
And 503, when the vehicle is controlled to move to the preset calibration position, controlling the vehicle to be stationary by using the stationary command, and controlling the second sensor to acquire data in the stationary process of the vehicle.
As shown in fig. 6, in the stationary process of the vehicle, controlling the second sensor to collect data specifically includes:
and controlling the second sensor to collect data in the process that the vehicle is static and the turntable rotates, wherein the turntable is the turntable where the vehicle is located when the vehicle is static.
It can be understood that the vehicle executes the stop command after reaching the preset calibration position, that is, the turntable position is the preset calibration position, when the vehicle reaches the turntable, the vehicle is stationary, the turntable rotates, and the second sensor collects data.
In the process of rotating the turntable, the rotating angle of the turntable and the rotating direction of the turntable can be set according to needs, and are not limited and described herein. And step 504, sending data to a server to calibrate the second sensor.
It should be noted that the description of step 504 is the same as the description of step 104 in the first embodiment, and reference may be specifically made to the description of step 104, which is not described herein again.
In this embodiment, the sensor to be calibrated is a second sensor, after the calibration request of the second sensor is obtained, a first control instruction that the vehicle carrying the second sensor moves from the current position to a preset calibration position is obtained, the vehicle is controlled to travel to the preset calibration position according to the first control instruction, the state of the vehicle is controlled by the second control instruction, data is collected by the second sensor, the collected data is sent to the server to calibrate the sensor to be calibrated, the whole process is controlled by the vehicle-mounted terminal, personnel do not need to participate in the control, the calibration efficiency of the second sensor is improved, and therefore the technical problem that the existing sensor calibration method for the unmanned vehicle is low in efficiency is solved.
The above is a fourth embodiment of the sensor calibration method provided in the embodiment of the present application, and the following is a fifth embodiment of the sensor calibration method provided in the embodiment of the present application, where on the basis of the first embodiment, a detailed description is given to a calibration process when the sensors to be calibrated are the first sensor and the second sensor.
Referring to fig. 7, fig. 7 is a schematic flowchart illustrating a fifth embodiment of a sensor calibration method according to an embodiment of the present application.
In this embodiment, the to-be-calibrated sensors are a first sensor and a second sensor, and when the to-be-calibrated sensors are the first sensor and the second sensor, the calibration method includes:
It can be understood that the first sensor in this embodiment may be a laser radar, and may also be a millimeter wave radar; the second sensor can be a traffic light camera or a 360-degree camera.
It is understood that when the first preset calibration position and the second preset calibration position of the first sensor are the same, the vehicle moves from the current position to the first preset calibration position, that is, from the current position to the second preset calibration position.
When a first preset calibration position corresponding to the first sensor is different from a second preset calibration position corresponding to the second sensor;
the first control instruction is as follows: the instruction is used for controlling the vehicle to move from the current position to the first preset calibration position and then from the first preset calibration position to the second preset calibration position, or the instruction is used for controlling the vehicle to move from the current position to the second preset calibration position and then from the second preset calibration position to the first preset calibration position. Namely, the vehicle can be calibrated after moving from the current position to the first preset calibration position, and then moves from the first preset calibration position to the second preset calibration position to calibrate the second sensor; or calibrating the second sensor after moving from the current position to the second preset calibration position, and calibrating the first sensor after moving from the second preset calibration position to the first preset calibration position.
It is understood that, in an embodiment, the specific driving sequence of the first preset calibration position and the second preset calibration position may be determined according to the current position of the vehicle when the calibration request is obtained. For example, a first distance between the first preset calibration position and the current position is smaller than a second distance between the second preset calibration position and the current position, and at this time, the vehicle is controlled to travel from the current position to the first preset calibration position, and then from the first preset calibration position to the second preset calibration position. In another embodiment, the driving sequence may also be determined according to a first driving route for the vehicle to travel from the current position to the first preset calibration position and a second driving route for the vehicle to travel from the current position to the second preset calibration position, for example, if the current driving route of the vehicle is the same as the first driving route, the vehicle is controlled to travel to the first preset calibration position and then to travel to the second preset calibration position.
And 703, controlling the vehicle to run by using a running instruction after the vehicle is controlled to move to the first preset standard position corresponding to the first sensor, and controlling the first sensor to collect first data in the running process of the vehicle.
Specifically, after the vehicle moves to the first preset calibration position, reference may be made to the description of the third embodiment for the process of acquiring the first data by the first sensor at the first preset calibration position, which is not described herein again.
And 704, after the vehicle is controlled to move to a second preset target position corresponding to the second sensor, controlling the vehicle to be static by using the static instruction, and controlling the second sensor to acquire second data in the static process of the vehicle.
Specifically, after the vehicle moves to the second preset calibration position, reference may be made to the description of the fourth embodiment for the process of acquiring the second data by the second sensor at the second preset calibration position, which is not described herein again.
The vehicle-mounted terminal sends the first data and the second data to the server, and the server calibrates the first sensor according to the first data and calibrates the second sensor according to the second data.
In this embodiment, the sensors to be calibrated are the first sensor and the second sensor, and after the calibration request of the second sensor is obtained, acquiring a first control instruction of a vehicle carrying a second sensor to move from a current position to a preset calibration position (comprising a first preset calibration position corresponding to the first sensor and a second preset calibration position corresponding to the second sensor), controlling the vehicle to run to a preset target position according to the first control instruction, controlling the state of the vehicle by using a second control instruction, the second sensor collects data and sends the collected data to the server to calibrate the sensor to be calibrated, the whole process is controlled by the vehicle-mounted terminal without the participation of personnel, the calibration efficiency of the second sensor is improved, therefore, the technical problem that the existing method for calibrating the sensor of the unmanned automobile is low in efficiency is solved.
The foregoing is an embodiment of the sensor calibration method applied to the vehicle-mounted terminal provided in the first aspect of the embodiment of the present application, and the following is an embodiment of the sensor calibration method applied to the server provided in the second aspect of the embodiment of the present application.
Referring to fig. 8, fig. 8 is a schematic flow chart of a sixth embodiment of a sensor calibration method according to an embodiment of the present application.
The sensor calibration method in the embodiment includes:
Wherein, the first control instruction is as follows: and controlling the vehicle to move from the current position to the preset calibration position.
And step 802, acquiring data sent by the vehicle-mounted terminal to calibrate the sensor to be calibrated.
In this embodiment, the server obtains a calibration request of a sensor to be calibrated, and sends the calibration request to the vehicle-mounted terminal, and the vehicle-mounted terminal, based on the calibration request, a first control instruction for controlling the vehicle carrying the sensor to be calibrated to move from the current position to the preset calibration position can be obtained, and after the vehicle moves to the preset calibration position, the state of the vehicle is controlled by using a second control instruction, the sensor to be calibrated is controlled to collect data, the collected data is sent to the server, the calibration of the sensor to be calibrated is carried out under the control of the vehicle-mounted terminal in the whole process, including the movement of the vehicle from the current position to the preset calibration position and the control of the vehicle operation after the vehicle moves to the preset calibration position, without the participation of personnel in the control, so that the calibration efficiency of the sensor is improved, therefore, the technical problem that the existing method for calibrating the sensor of the unmanned automobile is low in efficiency is solved.
The foregoing is an embodiment of the sensor calibration method applied to the server according to the second aspect of the embodiment of the present application, and the following is an embodiment of the vehicle-mounted terminal according to the third aspect of the embodiment of the present application.
Referring to fig. 9, fig. 9 is a schematic structural diagram of an embodiment of a vehicle-mounted terminal in an embodiment of the present application.
The in-vehicle terminal in this embodiment includes:
an obtaining unit 901, configured to obtain a calibration request of a sensor to be calibrated, sent by a server;
a generating unit 902, configured to generate, based on the calibration request, a first control instruction of a vehicle carrying a sensor to be calibrated, where the first control instruction is: controlling the vehicle to move from the current position to a preset calibration position;
the control unit 903 is used for controlling the state of the vehicle by using a second control instruction after controlling the vehicle to move to a preset calibration position so as to acquire data through a sensor to be calibrated;
and a sending unit 904, configured to send data to the server, so as to calibrate the sensor to be calibrated.
The vehicle-mounted terminal in the embodiment can acquire a first control instruction for controlling a vehicle carrying the sensor to be calibrated to move from a current position to a preset calibration position based on a calibration request of the sensor to be calibrated, controls the state of the vehicle by using a second control instruction after the vehicle moves to the preset calibration position, controls the sensor to be calibrated to acquire data, and sends the acquired data to the server to calibrate the sensor to be calibrated.
The above is an embodiment of the in-vehicle terminal provided in the third aspect of the embodiment of the present application, and the following is an embodiment of the server provided in the fourth aspect of the embodiment of the present application.
Referring to fig. 10, fig. 10 is a schematic structural diagram of an embodiment of a server according to the present application.
The server in this embodiment includes:
a sending unit 1001, configured to send a calibration request of a sensor to be calibrated to a vehicle-mounted terminal, so that the vehicle-mounted terminal generates a first control instruction for loading a vehicle with the sensor to be calibrated based on the calibration request, and after the vehicle-mounted terminal controls the vehicle to move to a preset calibration position, controls a state of the vehicle by using a second control instruction, so as to acquire data through the sensor to be calibrated, where the first control instruction is: controlling the vehicle to move from the current position to a preset calibration position;
the obtaining unit 1002 is configured to obtain data sent by the vehicle-mounted terminal, so as to calibrate the sensor to be calibrated.
The server in this embodiment acquires a calibration request of a sensor to be calibrated, and sends the calibration request to the vehicle-mounted terminal, and the vehicle-mounted terminal, based on the calibration request, a first control instruction for controlling the vehicle carrying the sensor to be calibrated to move from the current position to the preset calibration position can be obtained, and after the vehicle moves to the preset calibration position, the state of the vehicle is controlled by using a second control instruction, the sensor to be calibrated is controlled to collect data, the collected data is sent to the server, the calibration of the sensor to be calibrated is carried out under the control of the vehicle-mounted terminal in the whole process, including the movement of the vehicle from the current position to the preset calibration position and the control of the vehicle operation after the vehicle moves to the preset calibration position, without the participation of personnel in the control, so that the calibration efficiency of the sensor is improved, therefore, the technical problem that the existing method for calibrating the sensor of the unmanned automobile is low in efficiency is solved.
The above is an embodiment of the server provided in the fourth aspect of the embodiment of the present application, and the following is an embodiment of the sensor calibration system provided in the fifth aspect of the embodiment of the present application.
Referring to fig. 11, fig. 11 is a schematic structural diagram of an embodiment of a sensor calibration system in an embodiment of the present application.
The sensor calibration system in this embodiment includes: a vehicle-mounted terminal 1101 and a server 1102;
the server 1102 is configured to send a calibration request of a sensor to be calibrated to the vehicle-mounted terminal 1101;
the vehicle-mounted terminal 1101 is used for generating a first control instruction of a vehicle carrying a sensor to be calibrated based on the calibration request; the vehicle state control system is also used for controlling the state of the vehicle by utilizing a second control instruction after the vehicle is controlled to move to the preset calibration position so as to acquire data through the sensor to be calibrated; wherein, the first control instruction is as follows: controlling the vehicle to move from the current position to a preset calibration position;
the server 1102 is further configured to acquire data sent by the in-vehicle terminal 1101 to calibrate the sensor to be calibrated.
It can be understood that the vehicle-mounted terminal may be a mobile phone, a tablet, or the like, or may be a central control system of the vehicle.
In this embodiment, the server 1102 acquires a calibration request of a sensor to be calibrated, and sends the calibration request to the in-vehicle terminal 1101, and the in-vehicle terminal 1101, based on the calibration request, a first control instruction for controlling the vehicle carrying the sensor to be calibrated to move from the current position to the preset calibration position can be obtained, and after the vehicle moves to the preset calibration position, the state of the vehicle is controlled by a second control instruction, and controls the sensor to be calibrated to collect data, sends the collected data to the server 1102, the calibration of the sensor to be calibrated is carried out under the control of a sensor calibration system in the whole process, including the movement of the vehicle from the current position to the preset calibration position and the control of the vehicle operation after the vehicle moves to the preset calibration position, without the participation of personnel in the control, thereby improving the calibration efficiency of the sensor, therefore, the technical problem that the existing method for calibrating the sensor of the unmanned automobile is low in efficiency is solved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed system, commodity loading server and method may be implemented in other ways. For example, the above-described embodiments of the merchandise loading server are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when the actual implementation is performed, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, commodity loading server or unit, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (13)
1. A sensor calibration method is characterized by being applied to a vehicle-mounted terminal, and comprises the following steps:
acquiring a calibration request of a sensor to be calibrated, which is sent by a server;
generating a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request, wherein the first control instruction is as follows: instructions for controlling the vehicle to move from a current position to a preset calibration position;
after the vehicle is controlled to move to the preset calibration position, controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated;
and sending the data to the server to calibrate the sensor to be calibrated.
2. The sensor calibration method according to claim 1, wherein the calibration request includes sensor information of the sensor to be calibrated;
generating a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request, wherein the first control instruction is as follows: the instruction for controlling the vehicle to move from the current position to the preset calibration position specifically comprises:
acquiring a preset calibration position corresponding to the sensor information based on a mapping relation between the sensor information and the preset calibration position according to the sensor information carried in the calibration request;
and generating a first control instruction for controlling the vehicle to move from the current position to a preset calibration position according to the current position of the vehicle carrying the sensor to be calibrated and the preset calibration position.
3. A method for sensor calibration as defined in claim 1, wherein said first control command comprises: travel route and/or travel speed and/or start time.
4. The sensor calibration method according to claim 1, wherein the sensor to be calibrated is a first sensor, and the second control command is a driving command;
controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated, and specifically comprising the following steps:
and controlling the vehicle to run by using the running instruction, and controlling the first sensor to collect data in the running process of the vehicle.
5. The sensor calibration method according to claim 4, wherein the driving instruction comprises: driving path and driving direction;
the method for controlling the vehicle to run by using the running command specifically comprises the following steps:
and controlling the vehicle to run along the running direction on the running path by utilizing the running path and the running direction.
6. The sensor calibration method according to claim 1, wherein the sensor to be calibrated is a second sensor, and the second control command is a standstill command;
controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated, and specifically comprising the following steps:
and controlling the vehicle to be stationary by using the stationary command, and controlling the second sensor to collect data in the stationary process of the vehicle.
7. The sensor calibration method according to claim 6, wherein controlling the second sensor to collect data during the vehicle is stationary comprises:
and controlling the second sensor to collect data in the process that the vehicle is static and the turntable rotates, wherein the turntable is the turntable where the vehicle is located when the vehicle is static.
8. The sensor calibration method according to claim 1, wherein the sensors include a first sensor and a second sensor, and the second control command includes: driving instructions and static instructions;
controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated, and specifically comprising the following steps:
controlling the vehicle to run by using the running instruction, and controlling the first sensor to acquire first data in the running process of the vehicle;
controlling the vehicle to be static by using the static instruction, and controlling the second sensor to acquire second data in the static process of the vehicle;
sending the data to the server to calibrate the sensor to be calibrated, specifically comprising:
and sending the first data and the second data to the server so as to carry out corresponding calibration on the first sensor and the second sensor.
9. The sensor calibration method according to claim 8, wherein a first preset calibration position corresponding to the first sensor is different from a second preset calibration position corresponding to the second sensor;
the first control instruction is as follows: and controlling the vehicle to move from the current position to the first preset calibration position and then from the first preset calibration position to the second preset calibration position, or controlling the vehicle to move from the current position to the second preset calibration position and then from the second preset calibration position to the first preset calibration position.
10. A sensor calibration method is applied to a server, and comprises the following steps:
sending a calibration request of a sensor to be calibrated to a vehicle-mounted terminal, so that the vehicle-mounted terminal generates a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request, and after the vehicle-mounted terminal controls the vehicle to move to a preset calibration position, controlling the state of the vehicle by using a second control instruction so as to acquire data through the sensor to be calibrated, wherein the first control instruction is as follows: instructions for controlling the vehicle to move from a current position to the preset calibration position;
and acquiring the data sent by the vehicle-mounted terminal to calibrate the sensor to be calibrated.
11. A vehicle-mounted terminal characterized by comprising:
the acquisition unit is used for acquiring a calibration request of a sensor to be calibrated, which is sent by the server;
a generating unit, configured to generate a first control instruction of a vehicle carrying the sensor to be calibrated, based on the calibration request, where the first control instruction is: instructions for controlling the vehicle to move from a current position to a preset calibration position;
the control unit is used for controlling the state of the vehicle by utilizing a second control instruction after controlling the vehicle to move to the preset calibration position so as to acquire data through the sensor to be calibrated;
and the sending unit is used for sending the data to the server so as to calibrate the sensor to be calibrated.
12. A server, comprising:
the system comprises a sending unit, a calibration unit and a calibration unit, wherein the sending unit is used for sending a calibration request of a sensor to be calibrated to a vehicle-mounted terminal, so that the vehicle-mounted terminal generates a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request, and after the vehicle is controlled by the vehicle-mounted terminal to move to a preset calibration position, the state of the vehicle is controlled by a second control instruction, so that data are acquired through the sensor to be calibrated, and the first control instruction is as follows: instructions for controlling the vehicle to move from a current position to the preset calibration position;
and the acquisition unit is used for acquiring the data sent by the vehicle-mounted terminal so as to calibrate the sensor to be calibrated.
13. A sensor calibration system, comprising: a vehicle-mounted terminal and a server;
the server is used for sending a calibration request of the sensor to be calibrated to the vehicle-mounted terminal;
the vehicle-mounted terminal is used for generating a first control instruction of a vehicle carrying the sensor to be calibrated based on the calibration request; the vehicle state control system is also used for controlling the state of the vehicle by utilizing a second control instruction after controlling the vehicle to move to a preset calibration position so as to acquire data through the sensor to be calibrated; wherein the first control instruction is: instructions for controlling the vehicle to move from a current position to the preset calibration position;
the server is further used for acquiring the data sent by the vehicle-mounted terminal so as to calibrate the sensor to be calibrated.
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| CN202011387809.6A CN112710341A (en) | 2020-11-30 | 2020-11-30 | Vehicle-mounted terminal, server, sensor calibration method and system |
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| CN202011387809.6A CN112710341A (en) | 2020-11-30 | 2020-11-30 | Vehicle-mounted terminal, server, sensor calibration method and system |
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Application publication date: 20210427 |