CN113049008A

CN113049008A - Method and device for calibrating positioning system of vehicle, computer equipment and storage medium

Info

Publication number: CN113049008A
Application number: CN202110426390.9A
Authority: CN
Inventors: 张少康; 朱保华; 白静; 朱振夏; 朱加伟
Original assignee: Beijing Voyager Technology Co Ltd
Current assignee: Beijing Voyager Technology Co Ltd
Priority date: 2021-04-20
Filing date: 2021-04-20
Publication date: 2021-06-29
Anticipated expiration: 2041-04-20

Abstract

The present disclosure provides a method, an apparatus, a computer device and a storage medium for calibrating a positioning system of a vehicle, wherein the method comprises: determining a second vehicle that has completed calibration of the positioning system; sending a calibration request to the second vehicle; receiving actual position information of the first vehicle fed back by the second vehicle based on the calibration request; calibrating a positioning system of the first vehicle based on the actual position information. According to the embodiment of the disclosure, the calibration of the positioning system of the first vehicle is realized by using the second vehicle which has already finished the calibration of the positioning system, so that the calibration efficiency of the positioning system is improved, a driver does not need to participate in the calibration process, and the calibration process is simpler.

Description

Method and device for calibrating positioning system of vehicle, computer equipment and storage medium

Technical Field

The present disclosure relates to the field of positioning system calibration technologies, and in particular, to a method and an apparatus for calibrating a positioning system of a vehicle, a computer device, and a storage medium.

Background

With the development of automatic driving technology, the driving safety of unmanned vehicles is more and more emphasized. In order to ensure safe driving, the unmanned vehicle needs to be accurately positioned so as to further perform accurate control.

Based on this, after the unmanned vehicle is started, a positioning system of the unmanned vehicle needs to be calibrated, the positioning system can be ensured to accurately position the vehicle, and the positioning system of the vehicle is calibrated mainly by a method of driving around a splayed shape or an L shape, which needs to consume a long time.

Disclosure of Invention

The embodiment of the disclosure at least provides a method and a device for calibrating a positioning system of a vehicle, computer equipment and a storage medium.

In a first aspect, an embodiment of the present disclosure provides a method for calibrating a positioning system of a vehicle, including: determining a second vehicle that has completed calibration of the positioning system; sending a calibration request to the second vehicle; receiving actual position information of the first vehicle fed back by the second vehicle based on the calibration request; calibrating a positioning system of the first vehicle based on the actual position information.

In one possible embodiment, the determining the second vehicle that has completed the calibration of the positioning system includes: broadcasting a position detection request to the scanning range; receiving first relative position information fed back by a third vehicle in the scanning range based on the position detection request; wherein the first relative position information is relative position information between the third vehicle and the first vehicle; determining the second vehicle from the third vehicles based on the first relative position information.

In one possible embodiment, the determining the second vehicle from the third vehicles based on the first relative position information includes: determining a distance between a third vehicle and the first vehicle corresponding to the first relative position information based on the first relative position information; and determining the second vehicle from the third vehicles based on the distance and a preset distance range.

In one possible implementation, the broadcasting a location detection request into the scanning range includes: broadcasting the position detection request to the scanning range by using an ultra-wideband UWB tag; receiving first relative position information fed back by a third vehicle in the scanning range based on the position detection request, wherein the first relative position information comprises: and receiving first relative position information generated by responding to the position detection request by a third vehicle in the scanning range by utilizing the UWB base station.

In one possible embodiment, the method further comprises: receiving a vehicle identification of a third vehicle fed back by the third vehicle based on the position detection request; the sending a calibration request to the second vehicle includes: transmitting the calibration request to the second vehicle based on a vehicle identification of the second vehicle.

In one possible implementation, the sending the calibration request to the second vehicle based on the vehicle identification of the second vehicle includes: transmitting the calibration request to the second vehicle using a UWB tag and a vehicle identification of the second vehicle; alternatively, the calibration request is sent to the second vehicle using a short-range communication module and a vehicle identification of the second vehicle.

In one possible embodiment, the calibrating the positioning system of the first vehicle based on the actual position information includes: based on the positioning system of the first vehicle, carrying out initial positioning on the first vehicle to obtain initial position information of the first vehicle; calibrating a positioning system of the first vehicle with the initial position information based on the actual position information.

In a second aspect, an embodiment of the present disclosure further provides a method for calibrating a positioning system of a vehicle, including:

receiving a calibration request sent by a first vehicle; determining second relative position information between the second vehicle and the first vehicle based on the calibration request; determining actual position information of the first vehicle based on the second relative position information and current position information of the second vehicle; wherein the current location information of the second vehicle is determined using a positioning system of the second vehicle; transmitting the actual position information to the first vehicle.

In one possible embodiment, the method further comprises: receiving a position detection request sent by the first vehicle; determining second relative position information between the second vehicle and the first vehicle based on the position detection request; feeding back the second relative position information to the first vehicle; the second relative position information is used by the first vehicle to determine the second vehicle.

In one possible embodiment, the position detection request is sent by the first vehicle using a UWB tag; determining second relative position information between the second vehicle and the first vehicle based on the position detection request, including: determining, with a UWB base station in the second vehicle, relative position information between the second vehicle and the UWB tag based on the position detection request; obtaining second relative position information between the second vehicle and the first vehicle based on the relative position information between the second vehicle and the UWB tag.

In one possible embodiment, the method further comprises: transmitting a vehicle identification of the second vehicle to the first vehicle based on the location detection request; wherein the vehicle identification of the second vehicle is used for the first vehicle to send the calibration request to the second vehicle.

In one possible embodiment, the receiving a calibration request sent by a first vehicle includes: receiving a calibration request sent by the first vehicle using a UWB tag and a vehicle identification of the second vehicle; the determining second relative position information between the second vehicle and the first vehicle based on the calibration request comprises: determining, with the UWB base station, second relative position information between the second vehicle and the first vehicle based on the calibration request.

In a possible implementation manner, the location detection request further carries a vehicle identifier of the first vehicle; after determining second relative position information between the second vehicle and the first vehicle based on the position detection request, further comprising: the vehicle identification of the first vehicle and second relative position information of the first vehicle and the second vehicle are stored in an associated mode, and associated storage information is generated; the receiving of the calibration request sent by the first vehicle includes: receiving the calibration request sent by the first vehicle using a short-range communication module, a vehicle identification of the second vehicle, and a vehicle identification of the first vehicle; the determining second relative position information between the second vehicle and the first vehicle based on the calibration request comprises: determining second relative position information between the first vehicle and the second vehicle from the associated stored information based on the vehicle identification of the first vehicle.

In one possible embodiment, the determining the actual position information of the first vehicle based on the second relative position information between the second vehicle and the first vehicle and the current position information of the second vehicle includes: determining, with a radar detection module, third relative position information between other vehicles in the vicinity of the second vehicle and the second vehicle; determining target relative position information between the second vehicle and the first vehicle from third relative position information between other vehicles in the vicinity of the second vehicle and the second vehicle, based on second relative position information between the second vehicle and the first vehicle; determining actual position information of the first vehicle based on the target relative position information and the current position information of the second vehicle.

In a third aspect, an embodiment of the present disclosure further provides a calibration device for a positioning system of a vehicle, including:

a first processing module for determining a second vehicle for which calibration of the positioning system has been completed; a first sending module, configured to send a calibration request to the second vehicle; a first receiving module, configured to receive actual position information of the first vehicle fed back by the second vehicle based on the calibration request; a calibration module to calibrate a positioning system of the first vehicle based on the actual location information.

In a possible embodiment, upon determining that the second vehicle has completed the calibration of the positioning system, the first processing module is specifically configured to broadcast a position detection request into the scanning range; receiving first relative position information fed back by a third vehicle in the scanning range based on the position detection request; wherein the first relative position information is relative position information between the third vehicle and the first vehicle; determining the second vehicle from the third vehicles based on the first relative position information.

In a possible implementation, when determining the second vehicle from the third vehicles based on the first relative position information, the first processing module is specifically configured to determine, based on the first relative position information, a distance between the first vehicle and the third vehicle corresponding to the first relative position information; and determining the second vehicle from the third vehicles based on the distance and a preset distance range.

In a possible implementation, when broadcasting a location detection request into a scanning range, the first processing module is specifically configured to broadcast the location detection request into the scanning range by using an ultra-wideband UWB tag; receiving first relative position information fed back by a third vehicle in the scanning range based on the position detection request, wherein the first relative position information comprises: and receiving first relative position information generated by responding to the position detection request by a third vehicle in the scanning range by utilizing the UWB base station.

In a possible implementation, the first receiving module is further configured to receive a vehicle identifier of the third vehicle, which is fed back by the third vehicle based on the position detection request; when sending the calibration request to the second vehicle, the first sending module is specifically configured to send the calibration request to the second vehicle based on the vehicle identifier of the second vehicle.

In a possible implementation, when the calibration request is sent to the second vehicle based on the vehicle identifier of the second vehicle, the first sending module is specifically configured to send the calibration request to the second vehicle by using the UWB tag and the vehicle identifier of the second vehicle; alternatively, the calibration request is sent to the second vehicle using a short-range communication module and a vehicle identification of the second vehicle.

In a possible implementation manner, when calibrating the positioning system of the first vehicle based on the actual position information, the calibration module is specifically configured to perform initial positioning on the first vehicle based on the positioning system of the first vehicle, so as to obtain initial position information of the first vehicle; calibrating a positioning system of the first vehicle with the initial position information based on the actual position information.

In a fourth aspect, an embodiment of the present disclosure further provides a calibration device for a positioning system of a vehicle, including: the second receiving module is used for receiving a calibration request sent by the first vehicle; a second processing module to determine second relative position information between the second vehicle and the first vehicle based on the calibration request; a third processing module, configured to determine actual position information of the first vehicle based on the second relative position information and current position information of the second vehicle; wherein the current location information of the second vehicle is determined using a positioning system of the second vehicle; and the second sending module is used for sending the actual position information to the first vehicle.

In a possible embodiment, the apparatus further comprises: a fourth processing module; the fourth processing module is configured to receive a position detection request sent by the first vehicle; determining second relative position information between the second vehicle and the first vehicle based on the position detection request; feeding back the second relative position information to the first vehicle; the second relative position information is used by the first vehicle to determine the second vehicle.

In one possible embodiment, the position detection request is sent by the first vehicle using a UWB tag; when determining second relative position information between the second vehicle and the first vehicle based on the position detection request, the fourth processing module is specifically configured to determine, by using a UWB base station in the second vehicle, the relative position information between the second vehicle and the UWB tag based on the position detection request; obtaining second relative position information between the second vehicle and the first vehicle based on the relative position information between the second vehicle and the UWB tag.

In a possible implementation, the second sending module is further configured to send, to the first vehicle, a vehicle identifier of the second vehicle based on the location detection request; wherein the vehicle identification of the second vehicle is used for the first vehicle to send the calibration request to the second vehicle.

In a possible implementation manner, when receiving a calibration request sent by a first vehicle, the second receiving module is specifically configured to receive a calibration request sent by the first vehicle by using a UWB tag and a vehicle identifier of the second vehicle; when determining second relative position information between the second vehicle and the first vehicle based on the calibration request, the second processing module is specifically configured to determine, by using the UWB base station, second relative position information between the second vehicle and the first vehicle based on the calibration request.

In a possible implementation manner, the location detection request further carries a vehicle identifier of the first vehicle; after determining second relative position information between the second vehicle and the first vehicle based on the position detection request, the fourth processing module is further configured to associate and store the vehicle identifier of the first vehicle and the second relative position information of the first vehicle and the second vehicle, and generate associated and stored information; when receiving a calibration request sent by a first vehicle, the second receiving module is specifically configured to receive the calibration request sent by the first vehicle using a short-range communication module, a vehicle identifier of the second vehicle, and a vehicle identifier of the first vehicle; when determining second relative position information between the second vehicle and the first vehicle based on the calibration request, the second processing module is specifically configured to determine second relative position information between the first vehicle and the second vehicle from the associated stored information based on the vehicle identifier of the first vehicle.

In a possible implementation, when determining the actual position information of the first vehicle based on the second relative position information between the second vehicle and the first vehicle and the current position information of the second vehicle, the third processing module is specifically configured to determine, by using a radar detection module, third relative position information between other vehicles in the vicinity of the second vehicle and the second vehicle; determining target relative position information between the second vehicle and the first vehicle from third relative position information between other vehicles in the vicinity of the second vehicle and the second vehicle, based on second relative position information between the second vehicle and the first vehicle; determining actual position information of the first vehicle based on the target relative position information and the current position information of the second vehicle.

In a fifth aspect, this disclosure provides a computer device, a processor, and a memory, where the memory stores machine-readable instructions executable by the processor, and the processor is configured to execute the machine-readable instructions stored in the memory, and when the machine-readable instructions are executed by the processor, the machine-readable instructions are executed by the processor to perform the steps in any one of the possible implementations of the first aspect or the second aspect.

In a sixth aspect, this disclosure also provides a computer-readable storage medium having a computer program stored thereon, where the computer program is executed to perform the steps in any of the above-mentioned first aspect or the possible embodiments of the second aspect.

In a seventh aspect, the disclosed embodiments provide a computer program product comprising a computer program/instructions, which when executed by a processor, implement the steps in any one of the possible implementations of the first aspect or the second aspect.

For the description of the effects of the above-mentioned calibration apparatus, computer device, computer readable storage medium, and computer program product for the positioning system of the vehicle, reference is made to the above description of the calibration method for the positioning system of the vehicle, which is not repeated herein.

According to the vehicle positioning system calibration method and device, the computer equipment and the storage medium, the second vehicle which is calibrated by the positioning system is utilized, the calibration of the positioning system of the first vehicle is achieved, a driver does not need to participate in the calibration process, accordingly, the calibrated vehicle resources are fully utilized, meanwhile, the uncalibrated vehicle is calibrated in time, the calibration efficiency is improved, and the labor cost is reduced.

In addition, after receiving a calibration request sent by a first vehicle, a second vehicle which has finished calibration of the positioning system locates the first vehicle based on the calibration request to obtain second relative position information between the second vehicle and the first vehicle, the second vehicle obtains current position information of the second vehicle based on the positioning system which has finished calibration, then obtains actual position information of the first vehicle based on the second relative position information and the current position information, and sends the actual position information of the first vehicle to the first vehicle, so that the first vehicle calibrates the positioning system of the first vehicle based on the actual position information. Therefore, the second vehicle which finishes the calibration of the positioning system can realize the positioning of the first vehicle which calibrates the positioning system, and the first vehicle can calibrate the positioning system of the first vehicle based on the actual position information determined by the second vehicle, so that the convenience and efficiency of calibrating the self positioning system by the vehicle are improved, and the labor and time cost are saved.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.

FIG. 1 illustrates a flow chart of a method for calibrating a positioning system of a vehicle provided by an embodiment of the present disclosure;

FIG. 2 illustrates a flow chart of a method of determining a second vehicle provided by an embodiment of the present disclosure;

FIG. 3 illustrates a flow chart of another method for calibrating a positioning system of a vehicle provided by an embodiment of the disclosure;

FIG. 4 illustrates a flowchart of a method of determining actual position information of a first vehicle provided by an embodiment of the present disclosure;

FIG. 5 is a schematic diagram illustrating a vehicle positioning system calibration apparatus provided by an embodiment of the present disclosure;

FIG. 6 is a schematic diagram illustrating another vehicle positioning system calibration arrangement provided by an embodiment of the present disclosure;

fig. 7 shows a schematic diagram of a computer device provided by an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of embodiments of the present disclosure, as generally described and illustrated herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.

Research shows that the vehicle needs to calibrate its own positioning system at the beginning of starting to ensure that the positioning system can accurately determine the position of the vehicle in the world coordinate system. Generally, the method for calibrating the positioning system of the vehicle needs to be implemented through manual operation, for example, a driver drives the vehicle to run around a splayed shape or around an L shape at the beginning of starting the vehicle; the calibration method needs to consume more time and cost, and is not convenient enough. In the current process of calibrating the positioning system, a driver needs to drive an unmanned vehicle to realize calibration, but in an application scene of the unmanned vehicle, the positioning system needs to be calibrated without manual driving so as to meet the requirement of real unmanned driving.

Based on the research, the present disclosure provides a method and an apparatus for calibrating a positioning system of a vehicle, a computer device and a storage medium, which utilize a second vehicle that has completed the calibration of the positioning system to calibrate the positioning system of a first vehicle, thereby improving the efficiency of the calibration of the positioning system, and the calibration process is simpler without a driver participating in the calibration process.

The above-mentioned drawbacks are the results of the inventor after practical and careful study, and therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present disclosure to the above-mentioned problems should be the contribution of the inventor in the process of the present disclosure.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

The term "and/or" herein merely describes an associative relationship, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

To facilitate understanding of the present embodiment, first, a detailed description is given of a method for calibrating a positioning system of a vehicle disclosed in an embodiment of the present disclosure, where an execution subject of the method for calibrating a positioning system of a vehicle provided in an embodiment of the present disclosure is generally a computer device with certain computing capability, and the computer device includes, for example: a terminal device, which may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, a vehicle mounted device, a wearable device, or a server or other processing device. In some possible implementations, the vehicle positioning system calibration method may be implemented by a processor invoking computer readable instructions stored in a memory.

The first vehicle, the second vehicle and the third vehicle are all provided with positioning systems, and when the vehicles are started, the installed positioning systems need to be calibrated, so that the positioning systems can accurately determine the accurate positions of the vehicles provided with the positioning systems; the first vehicle is a vehicle which is ready for calibration of the positioning system, and the third vehicle is a vehicle which is located within the scanning range of the first vehicle and has completed calibration of the positioning system; the second vehicle is a vehicle in which the distance between the first vehicle and the first vehicle, which is determined by the first vehicle from the third vehicles, is within a preset distance range.

In addition, the first vehicle, the second vehicle, and the third vehicle according to the embodiment of the present disclosure include, for example: unmanned vehicles, normal manually driven conventional vehicles, unmanned forklifts, and the like.

The first relative position information is relative position information between a third vehicle and the first vehicle, the second relative position information is relative position information between the second vehicle and the first vehicle, and the second vehicle is determined from the third vehicle, so that the second relative position information is included in the first relative position information.

The method for calibrating the positioning system of the vehicle is suitable for the condition that the vehicle which is calibrated by the positioning system exists in the scanning range of the first vehicle.

The following describes a calibration method of a positioning system provided in an embodiment of the present disclosure. The method is applied to a first vehicle; the first vehicle may be any vehicle that requires calibration of a positioning system.

Referring to fig. 1, a flowchart of a method for calibrating a positioning system of a vehicle according to an embodiment of the present disclosure is applied to a first vehicle, and the method includes steps S101 to S104, where:

s101: a second vehicle is determined that has completed calibration of the positioning system.

In particular, there are a plurality of vehicles within the scanning range of the first vehicle, and the plurality of vehicles includes at least one vehicle that has completed the calibration of the positioning system and may also include at least one vehicle that has not completed the calibration of the positioning system.

For example, the first vehicle may first determine third vehicles with which calibration of the positioning system has been completed from the vehicles within the scanning range, because the relative positions of the third vehicles and the first vehicle are different, and when positioning is performed by using Ultra Wide Band (UWB) technology, if the relative position between the UWB tag and the UWB base station is too far or too close, the problem of low positioning accuracy may be caused. Therefore, in the embodiment of the present disclosure, it is necessary to determine a second vehicle more suitable for positioning the first vehicle from a plurality of third vehicles, specifically, for example, the method shown in fig. 2 may be adopted to determine the second vehicle:

s201: a location detection request is broadcast into the scanning range.

Since the first vehicle cannot obtain whether a third vehicle completing the calibration of the positioning system exists nearby in advance, the position detection request can be broadcast within the scanning range of the first vehicle. After any vehicle in the scanning range receives the position detection request, if the vehicle has completed the calibration of the positioning system, it may feed back first relative position information to the first vehicle based on the position detection request, so that the first vehicle may determine a second vehicle more suitable for positioning the first vehicle from the third vehicles based on the first relative position information fed back by each third vehicle.

Specifically, the first vehicle may broadcast a position detection request to vehicles within the scanning range using, for example, a UWB tag.

S202: first relative position information fed back by a third vehicle in the scanning range based on the position detection request is received.

For example, after a first vehicle broadcasts a position detection request to vehicles within a scanning range by using a UWB tag, the vehicles within the scanning range may receive the position detection request broadcasted by the first vehicle based on a UWB base station carried by the first vehicle, wherein each third vehicle completing calibration of the positioning system may feed back first relative position information between the third vehicle and the first vehicle to the first vehicle based on the position detection request; the first vehicle receives the first relative position information fed back by each third vehicle.

S203: the second vehicle is determined from the third vehicles based on the first relative position information.

Exemplarily, based on the first relative position information, determining a distance between the first vehicle and a third vehicle corresponding to the first relative position information; and determining the second vehicle from the third vehicles based on the distance and the preset distance range.

The preset distance range may be, for example, an optimal distance range obtained through multiple tests when one vehicle for positioning locates another vehicle to be positioned, where the positioning vehicle in the optimal distance range locates the vehicle to be positioned and obtains the highest accuracy of the position information of the vehicle to be positioned.

Therefore, based on the distance between each third vehicle and the first vehicle, determining that the third vehicle with the distance within the preset distance range is the second vehicle, wherein at least one third vehicle exists within the preset distance, and determining that the at least one third vehicle is the second vehicle;

or under the condition that no third vehicle exists in the preset distance range, determining the third vehicle closest to the preset distance range as the second vehicle.

In connection with the above S101, the method for calibrating a positioning system of a vehicle according to the embodiment of the present disclosure further includes:

s102: a calibration request is sent to a second vehicle.

The calibration request is sent by the first vehicle to the second vehicle, and the second vehicle is requested to detect the actual position information of the first vehicle in the world coordinate system based on the calibration request.

Specifically, after the first vehicle broadcasts the position detection request to the scanning range, the third vehicle may not only feed back the first relative position information between the third vehicle and the first vehicle based on the position detection request, but also feed back the vehicle identifier of the third vehicle based on the position detection request; the first vehicle receives the vehicle identification of the third vehicle fed back by the third vehicle; after at least one third vehicle is determined to be the second vehicle from the third vehicles, the vehicle identifier of the at least one third vehicle is the determined vehicle identifier of the second vehicle. A calibration request is sent to the second vehicle based on the vehicle identification of the second vehicle.

For example, the first vehicle may send the calibration request to the second vehicle by using, but not limited to, the method described in any of (1) or (2) below:

(1): sending a calibration request to the second vehicle using the UWB tag and the vehicle identification of the second vehicle;

for example, a calibration request is fed back to the UWB base station of the second vehicle using the UWB tag of the first vehicle based on the vehicle identification of the second vehicle.

(2): a calibration request is sent to the second vehicle using the short-range communication module and the vehicle identification of the second vehicle.

Wherein, the short-range communication module includes at least one of a bluetooth module, an infrared communication module, etc.; the first vehicle may, for example, utilize a vehicle identification of the second vehicle to send a calibration request to the short-range communication module of the second vehicle utilizing the short-range communication module of the first vehicle.

In connection with the step S102, the method for calibrating a vehicle positioning system according to the embodiment of the present disclosure further includes:

s103: and receiving the actual position information of the first vehicle fed back by the second vehicle based on the calibration request.

And the actual position information of the first vehicle is the position of the first vehicle detected by the second vehicle in the world coordinate system.

Specifically, the first vehicle may receive the actual position information based on, for example, a UWB tag or a short-range communication module, and if the second vehicle feeds back the actual position information with the UWB base station, the first vehicle receives the actual position information using the UWB tag; if the second vehicle uses the short-range communication module to feed back the actual position information, the first vehicle uses the short-range communication module to receive the actual position information.

S104: based on the actual position information, a positioning system of the first vehicle is calibrated.

Specifically, a positioning system of a first vehicle is calibrated based on actual position information fed back by a second vehicle when the second vehicle is determined for the first vehicle; and aiming at the condition that a plurality of second vehicles are determined by the first vehicle, averaging the actual position information fed back by the plurality of second vehicles respectively, and calibrating the positioning system of the first vehicle based on the averaged actual position information.

Here, when calibrating the positioning system of the first vehicle based on the actual position information, for example, the method includes performing initial positioning on the first vehicle based on the positioning system of the first vehicle to obtain initial position information of the first vehicle; based on the actual position information, and the initial position information, a positioning system of the first vehicle is calibrated.

Specifically, the first vehicle acquires a characteristic image of an environment where the first vehicle is located by using an image acquisition device, and a positioning system of the first vehicle determines a target map from a pre-generated high-precision map; then, comparing the target map with the characteristic image to obtain initial position information of the first vehicle; when the initial position information is inconsistent with the actual position information or the deviation between the initial position information and the actual position information exceeds a preset range, the positioning system of the first vehicle determines a new target map from the high-precision map again; comparing the new target map with the feature map to obtain new initial position information; comparing the new initial position with the actual position information; in this way, after a new target map is selected from the high-precision map for many times, the positioning system can enable the initial position information to be consistent with the actual position information or enable the deviation between the initial position information and the actual position information to be smaller than a preset range, and therefore calibration of the positioning system of the first vehicle is achieved.

The first vehicle of the embodiment of the disclosure sends a calibration request to a second vehicle which has completed calibration of a positioning system, and receives actual position information of the first vehicle, which is obtained by the second vehicle positioning the first vehicle based on the calibration request; the first vehicle calibrates the positioning system of the first vehicle based on the actual position information, and the calibration of the positioning system of the first vehicle is realized by utilizing the second vehicle which has already finished the calibration of the positioning system in the process, so that the calibration efficiency of the positioning system is improved, a driver does not need to participate in the calibration process, and the calibration process is simpler.

The embodiment of the present disclosure needs to calibrate the positioning system of the first vehicle based on the positioning system calibration method applied to the second vehicle that has completed the positioning system calibration, and the positioning system calibration method of the vehicle provided in the embodiment of the present disclosure is described in detail below with reference to fig. 3, and is applied to the second vehicle.

S301: a calibration request sent by a first vehicle is received.

Here, before receiving the calibration request sent by the first vehicle, the second vehicle needs to be determined by the first vehicle as the second vehicle from a plurality of vehicles within the scanning range of the first vehicle, so that the second vehicle receives the position detection request sent by the first vehicle before receiving the calibration request sent by the first vehicle; determining second relative position information between a second vehicle and the first vehicle based on the position detection request; and feeding back the second relative position information to the first vehicle.

Wherein the second relative position information is relative position information between the second vehicle and the first vehicle, the second relative position information being used by the first vehicle to determine the second vehicle.

Illustratively, the position detection request is sent by a first vehicle by using a UWB tag, the second vehicle receives the position detection request based on a UWB base station of the second vehicle, and the UWB base station is used for determining relative position information of the second vehicle in a UWB coordinate system corresponding to the position detection request; obtaining relative position information of the second vehicle and the UWB tag in a world coordinate system based on the relative position information of the second vehicle and the UWB tag in the UWB coordinate system and the conversion relation between the UWB coordinate system and the world coordinate system; obtaining second relative position information between the second vehicle and the first vehicle based on the relative position information of the second vehicle and the UWB tag under the world coordinate system: for example, relative position information of the second vehicle and the UWB tag in a world coordinate system is used as second relative position information; alternatively, the second relative position information is determined based on the installation position of the UWB base station in the second vehicle and the relative position information of the second vehicle and the UWB tag in the world coordinate system.

In addition, when the second vehicle transmits the second relative position information to the first vehicle based on the position detection request, the vehicle identification of the second vehicle is also transmitted to the first vehicle.

Wherein the vehicle identification of the second vehicle is used for the first vehicle to send a calibration request to the second vehicle; the calibration request is sent by the first vehicle to the second vehicle, informing the second vehicle to determine the actual position of the first vehicle in the world coordinate system based on the calibration request. The calibration request may be, for example, that the UWB tag of the first vehicle or the short-range communication module of the first vehicle transmits to the second vehicle based on the vehicle identification of the second vehicle, and the second vehicle receives the calibration request based on its own UWB base station for the case where the first vehicle transmits the calibration request through the UWB tag; in the case where the first vehicle transmits the calibration request through the short-range communication module, the second vehicle receives the calibration request based on the short-range communication module corresponding to the first vehicle in itself.

After receiving the above S301, after the second vehicle receives the calibration request, the method for calibrating a positioning system of a vehicle according to the embodiment of the present disclosure further includes:

s302: second relative position information between the second vehicle and the first vehicle is determined based on the calibration request.

Specifically, the second vehicle may determine the second relative position information between the second vehicle and the first vehicle based on the calibration request, for example, but not limited to, a method described in any one of the following A, B:

a: receiving a calibration request sent by a first vehicle by using a UWB tag and a vehicle identifier of a second vehicle; determining the relative position information of the UWB tag of the first vehicle corresponding to the calibration request in the UWB coordinate system of the second vehicle by utilizing the UWB base station of the second vehicle, and obtaining the relative position information of the UWB tag of the second vehicle and the first vehicle in the world coordinate system based on the relative position information of the UWB tag of the second vehicle and the first vehicle in the UWB coordinate system and the conversion relation between the UWB coordinate system and the world coordinate system; and obtaining second relative position information between the second vehicle and the first vehicle based on the relative position information of the second vehicle and the UWB tag in the world coordinate system.

Here, the manner of determining the second relative position information of the second vehicle and the first vehicle in the world coordinate system based on the relative position information of the UWB tags of the second vehicle and the first vehicle in the world coordinate system refers to the manner of determining the second relative position information based on the relative position information of the UWB tags of the second vehicle and the first vehicle in the UWB coordinate system in S301 described above, and is not described again here.

B: the second vehicle also carries the vehicle identifier of the first vehicle in the position detection request received in the step S301; the second vehicle determines second relative position information between the second vehicle and the first vehicle based on the position detection request, and then associates and stores the vehicle identifier of the first vehicle and the second relative position information to generate associated and stored information; and the second vehicle determines second relative position information between the first vehicle and the second vehicle from the association storage information based on the vehicle identification of the first vehicle after receiving the calibration request sent by the UWB tag or the short-range communication module based on the vehicle identification of the second vehicle.

After receiving the step S302, after the second vehicle determines the second relative position information, the method for calibrating a positioning system of a vehicle according to the embodiment of the present disclosure further includes:

s303: determining actual position information of the first vehicle based on the second relative position information and the current position information of the second vehicle; wherein the current location information of the second vehicle is determined using a positioning system of the second vehicle.

Here, the current position information of the second vehicle is a position of the second vehicle in the world coordinate system determined by the positioning system where the second vehicle has completed calibration. The second vehicle may determine actual position information of the first vehicle in the world coordinate system based on the current position information and second relative position information between the second vehicle and the first vehicle.

Specifically, there may be a problem that the second relative position information determined by the second vehicle based on its own UWB base station and the UWB tag of the first vehicle is not accurate enough, so when determining the actual position information of the first vehicle based on the current position information and the second relative position information, as shown in fig. 4, a method for determining the actual position information of the first vehicle provided by the embodiment of the present disclosure includes:

s401: third relative position information between other vehicles in the vicinity of the second vehicle and the second vehicle is determined using the radar detection module.

Specifically, the radar detection module of the second vehicle can more accurately determine the third relative position information between each vehicle near the second vehicle and the second vehicle in the radar coordinate system.

S402: target relative position information between the second vehicle and the first vehicle is determined from third relative position information between other vehicles in the vicinity of the second vehicle and the second vehicle, based on second relative position information between the second vehicle and the first vehicle.

The target relative position information is relatively accurate relative position information between the second vehicle and the first vehicle in a world coordinate system.

Specifically, the second relative position information and the third relative position information are detected by different modules having a positioning function in the second vehicle, the second relative position information may be detected by the UWB base station based on the second vehicle, the third relative position information is detected by the radar detection module, the detection accuracy of the radar detection module is higher than the accuracy of the relative position information detected by the UWB base station, but the radar detection module cannot distinguish which of the detected nearby vehicles is the first vehicle. Therefore, it is necessary to determine the target relative position information between the first vehicle and the second vehicle from the third relative position information of the plurality of other vehicles and the second vehicle detected by the radar using the second relative position information detected by the UWB base station, and further, to enable more accurate determination of the actual position information of the first vehicle based on the target relative position information.

S403: actual position information of the first vehicle is determined based on the target relative position information and the current position information of the second vehicle.

Receiving the above S303, after determining the actual position information of the first vehicle, the method for calibrating a positioning system according to the embodiment of the present disclosure further includes:

s304: actual position information is transmitted to the first vehicle.

Specifically, the second vehicle may transmit the actual location information to the first vehicle using a UWB base station or a short-range communication module, for example, based on the vehicle identification of the first vehicle.

The embodiment of the disclosure receives a calibration request sent by a first vehicle through a second vehicle which has finished calibration of a positioning system, positions the first vehicle based on the calibration request to obtain second relative position information between the second vehicle and the first vehicle, obtains current position information of the second vehicle based on the positioning system which has finished calibration per se, then obtains actual position information of the first vehicle based on the second relative position information and the current position information, and sends the actual position information of the first vehicle to the first vehicle, so that the first vehicle calibrates the positioning system of the first vehicle based on the actual position information. Therefore, the second vehicle which finishes the calibration of the positioning system can realize the positioning of the first vehicle which calibrates the positioning system, and the first vehicle can calibrate the positioning system of the first vehicle based on the actual position information determined by the second vehicle, so that the convenience and efficiency of calibrating the self positioning system by the vehicle are improved, and the labor and time cost are saved.

In order to more clearly describe the calibration method for the positioning system of the vehicle provided in the embodiment of the present disclosure, the following provides a specific embodiment of calibrating the positioning system of the first vehicle by the second vehicle:

step 1: a first vehicle broadcasts a position detection request to vehicles within a scanning range by using a UWB tag; the position detection request carries a vehicle identifier of the first vehicle;

step 2: after a third vehicle which has finished the calibration of the positioning system in the vehicles within the scanning range receives a position detection request sent by a first vehicle by utilizing a self UWB base station, based on the vehicle identification of the first vehicle, a first relative position information between the third vehicle and the first vehicle is detected by utilizing the UWB base station, and the first relative position information and the vehicle identification of the third vehicle are fed back to the first vehicle; (the first relative position information can also be stored in association with the vehicle identification of the first vehicle, and the associated storage information is generated, if the third vehicle is the second vehicle, the first relative position information between the third vehicle and the first vehicle is the second relative position information);

and step 3: after the first vehicle receives the first relative position information fed back by each third vehicle, determining the second vehicle from the third vehicles, and based on the vehicle identification of the second vehicle, sending a calibration request to the second vehicle by using a UWB base station or a short-range communication module; the calibration request carries the vehicle identification of the first vehicle;

and 4, step 4: after the second vehicle receives the calibration request by using the UWB base station or the short-range communication module (the first vehicle uses the UWB tag to send the calibration request, and the second vehicle uses the UWB base station to receive the calibration request; the first vehicle uses the short-range communication module to send the calibration request, and the second vehicle uses the short-range communication module to receive the calibration request), the UWB base station and the UWB tag of the first vehicle are used for determining second relative position information between the first vehicle and the second vehicle; or determining second relative position information by using the vehicle identification of the first vehicle and the associated storage information;

and 5: the second vehicle determines the current position information of the second vehicle based on a self positioning system, determines the actual position information of the first vehicle based on the current position information and the second relative position information, and sends the actual position information to the first vehicle;

step 6: the first vehicle receives the actual position information sent by the second vehicle, determines the initial position information of the first vehicle based on the positioning system of the first vehicle, and calibrates the positioning system of the first vehicle based on the actual position information and the initial position information.

It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.

Based on the same inventive concept, the embodiment of the present disclosure further provides a calibration apparatus for a vehicle positioning system corresponding to the calibration method for a vehicle positioning system, and since the principle of the apparatus in the embodiment of the present disclosure for solving the problem is similar to the calibration method for a vehicle positioning system in the embodiment of the present disclosure, the implementation of the apparatus may refer to the implementation of the method, and repeated details are omitted.

Referring to fig. 5, a schematic diagram of a calibration apparatus for a positioning system of a vehicle according to an embodiment of the present disclosure is shown, the apparatus includes: a first processing module 501, a first transmitting module 502, a first receiving module 503, and a calibration module 504; wherein the content of the first and second substances,

a first processing module 501 for determining a second vehicle for which calibration of the positioning system has been completed;

a first sending module 502 for sending a calibration request to the second vehicle;

a first receiving module 503, configured to receive actual position information of the first vehicle fed back by the second vehicle based on the calibration request;

a calibration module 504 configured to calibrate a positioning system of the first vehicle based on the actual position information.

Referring to fig. 6, a schematic diagram of a calibration apparatus for a positioning system of another vehicle provided in an embodiment of the present disclosure is shown, the apparatus including: a second receiving module 601, a second processing module 602, a third processing module 603, and a second sending module 604; wherein the content of the first and second substances,

the second receiving module 601 is configured to receive a calibration request sent by a first vehicle;

a second processing module 602 for determining second relative position information between the second vehicle and the first vehicle based on the calibration request;

a third processing module 603, configured to determine actual position information of the first vehicle based on the second relative position information and current position information of the second vehicle; wherein the current location information of the second vehicle is determined using a positioning system of the second vehicle;

a second sending module 604, configured to send the actual position information to the first vehicle.

The description of the processing flow of each module in the device and the interaction flow between the modules may refer to the related description in the above method embodiments, and will not be described in detail here.

An embodiment of the present disclosure further provides a computer device, as shown in fig. 7, which is a schematic structural diagram of the computer device provided in the embodiment of the present disclosure, and includes:

a processor 71 and a memory 72; the memory 72 stores machine-readable instructions executable by the processor 71, the processor 71 being configured to execute the machine-readable instructions stored in the memory 72, the processor 71 performing the following steps when the machine-readable instructions are executed by the processor 71:

determining a second vehicle that has completed calibration of the positioning system;

sending a calibration request to the second vehicle;

receiving actual position information of the first vehicle fed back by the second vehicle based on the calibration request;

calibrating a positioning system of the first vehicle based on the actual position information.

Alternatively, processor 71 performs the following steps:

receiving a calibration request sent by a first vehicle;

determining second relative position information between the second vehicle and the first vehicle based on the calibration request;

determining actual position information of the first vehicle based on the second relative position information and current position information of the second vehicle; wherein the current location information of the second vehicle is determined using a positioning system of the second vehicle;

transmitting the actual position information to the first vehicle.

The memory 72 includes a memory 721 and an external memory 722; the memory 721 is also referred to as an internal memory, and temporarily stores operation data in the processor 71 and data exchanged with an external memory 722 such as a hard disk, and the processor 71 exchanges data with the external memory 722 through the memory 721.

For the specific execution process of the above instruction, reference may be made to the steps of the calibration method for a positioning system of a vehicle described in the embodiments of the present disclosure, and details are not described here.

The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method for calibrating a positioning system of a vehicle in the above-mentioned method embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium.

The embodiments of the present disclosure also provide a computer program product, where the computer program product carries a program code, and instructions included in the program code may be used to execute the steps of the method for calibrating a positioning system of a vehicle in the foregoing method embodiments, which may be referred to specifically for the foregoing method embodiments, and are not described herein again.

The computer program product may be implemented by hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and 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 mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, 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 disclosure 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several 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 disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

The disclosed embodiments provide a method, an apparatus, a computer device, a storage medium, and a computer program product for calibrating a positioning system of a vehicle, which are specifically as follows:

TS1, a method for calibrating a positioning system of a vehicle, wherein the method is applied to a first vehicle, the method for calibrating the positioning system comprises:

sending a calibration request to the second vehicle;

TS2, the method of positioning system calibration according to TS1, wherein the determining a second vehicle that has completed positioning system calibration comprises:

broadcasting a position detection request to the scanning range;

receiving first relative position information fed back by a third vehicle in the scanning range based on the position detection request; wherein the first relative position information is relative position information between the third vehicle and the first vehicle;

determining the second vehicle from the third vehicles based on the first relative position information.

TS3, the method of positioning system calibration according to TS2, wherein the determining the second vehicle from the third vehicles based on the first relative position information comprises:

determining a distance between a third vehicle and the first vehicle corresponding to the first relative position information based on the first relative position information;

and determining the second vehicle from the third vehicles based on the distance and a preset distance range.

TS4, the method for calibrating a positioning system according to TS2 or TS3, wherein the broadcasting a position detection request into a scanning range includes:

broadcasting the position detection request to the scanning range by using an ultra-wideband UWB tag;

receiving first relative position information fed back by a third vehicle in the scanning range based on the position detection request, wherein the first relative position information comprises:

and receiving first relative position information generated by responding to the position detection request by a third vehicle in the scanning range by utilizing the UWB base station.

TS5, method for positioning system calibration according to TS2, further comprising: receiving a vehicle identification of a third vehicle fed back by the third vehicle based on the position detection request;

the sending a calibration request to the second vehicle includes:

transmitting the calibration request to the second vehicle based on a vehicle identification of the second vehicle.

TS6, the method of positioning system calibration according to TS5, wherein the sending the calibration request to the second vehicle based on the vehicle identification of the second vehicle comprises:

transmitting the calibration request to the second vehicle using a UWB tag and a vehicle identification of the second vehicle;

alternatively, the first and second electrodes may be,

sending the calibration request to the second vehicle using a short-range communication module and a vehicle identification of the second vehicle.

TS7, the method for calibrating a positioning system of a first vehicle of TS1, wherein the calibrating the positioning system of the first vehicle based on the actual position information comprises:

based on the positioning system of the first vehicle, carrying out initial positioning on the first vehicle to obtain initial position information of the first vehicle;

calibrating a positioning system of the first vehicle with the initial position information based on the actual position information.

TS8, a method for calibrating a positioning system of a vehicle, wherein the method is applied to a second vehicle that has completed calibration of the positioning system, the method for calibrating the positioning system comprises:

receiving a calibration request sent by a first vehicle;

transmitting the actual position information to the first vehicle.

TS9, method for positioning system calibration according to TS8, further comprising:

receiving a position detection request sent by the first vehicle;

determining second relative position information between the second vehicle and the first vehicle based on the position detection request;

feeding back the second relative position information to the first vehicle;

the second relative position information is used by the first vehicle to determine the second vehicle.

TS10, the positioning system calibration method according to TS9, wherein the position detection request is sent by the first vehicle using a UWB tag;

determining second relative position information between the second vehicle and the first vehicle based on the position detection request, including:

determining, with a UWB base station in the second vehicle, relative position information between the second vehicle and the UWB tag based on the position detection request;

obtaining second relative position information between the second vehicle and the first vehicle based on the relative position information between the second vehicle and the UWB tag.

TS11, method for positioning system calibration according to TS9, further comprising:

transmitting a vehicle identification of the second vehicle to the first vehicle based on the location detection request;

wherein the vehicle identification of the second vehicle is used for the first vehicle to send the calibration request to the second vehicle.

TS12, the method for calibrating a positioning system according to TS11, wherein the receiving a calibration request sent by a first vehicle includes:

receiving a calibration request sent by the first vehicle using a UWB tag and a vehicle identification of the second vehicle;

the determining second relative position information between the second vehicle and the first vehicle based on the calibration request comprises:

determining, with the UWB base station, second relative position information between the second vehicle and the first vehicle based on the calibration request.

TS13, the positioning system calibration method according to TS11, wherein the position detection request further carries a vehicle identifier of the first vehicle;

after determining second relative position information between the second vehicle and the first vehicle based on the position detection request, further comprising:

the vehicle identification of the first vehicle and second relative position information of the first vehicle and the second vehicle are stored in an associated mode, and associated storage information is generated;

the receiving of the calibration request sent by the first vehicle includes:

receiving the calibration request sent by the first vehicle using a short-range communication module, a vehicle identification of the second vehicle, and a vehicle identification of the first vehicle;

determining second relative position information between the first vehicle and the second vehicle from the associated stored information based on the vehicle identification of the first vehicle.

TS14, the positioning system calibration method of TS8, wherein the determining actual position information of the first vehicle based on second relative position information between the second vehicle and the first vehicle and current position information of the second vehicle comprises:

determining, with a radar detection module, third relative position information between other vehicles in the vicinity of the second vehicle and the second vehicle;

determining target relative position information between the second vehicle and the first vehicle from third relative position information between other vehicles in the vicinity of the second vehicle and the second vehicle, based on second relative position information between the second vehicle and the first vehicle;

determining actual position information of the first vehicle based on the target relative position information and the current position information of the second vehicle.

TS15, a positioning system calibration device for a vehicle, wherein, applied to a first vehicle, the positioning system calibration device comprises:

a first processing module for determining a second vehicle for which calibration of the positioning system has been completed;

a first sending module, configured to send a calibration request to the second vehicle;

a first receiving module, configured to receive actual position information of the first vehicle fed back by the second vehicle based on the calibration request;

a calibration module to calibrate a positioning system of the first vehicle based on the actual location information.

TS16, a positioning system calibration apparatus for a vehicle, applied to a second vehicle for which positioning system calibration has been completed, the positioning system calibration apparatus comprising:

the second receiving module is used for receiving a calibration request sent by the first vehicle;

a second processing module to determine second relative position information between the second vehicle and the first vehicle based on the calibration request;

a third processing module, configured to determine actual position information of the first vehicle based on the second relative position information and current position information of the second vehicle; wherein the current location information of the second vehicle is determined using a positioning system of the second vehicle;

and the second sending module is used for sending the actual position information to the first vehicle.

TS17, a computer device, comprising: a processor, a memory storing machine readable instructions executable by the processor for executing the machine readable instructions stored in the memory, the machine readable instructions when executed by the processor, the processor performing the steps of the method of calibrating a positioning system of a vehicle as set forth in any one of TS1 to TS 14.

TS18, a computer readable storage medium, wherein the computer readable storage medium has stored thereon a computer program which, when being executed by a computer arrangement, carries out the steps of the method of positioning system calibration of a vehicle according to any one of TS1 to TS 14.

TS19, a computer program product comprising computer instructions, wherein the computer instructions, when executed by a processor, implement the steps of the positioning system calibration method of a vehicle as set forth in any of TS1 to TS 14.

Claims

1. A method for calibrating a positioning system of a vehicle, applied to a first vehicle, the method comprising:

sending a calibration request to the second vehicle;

2. The positioning system calibration method of claim 1, wherein said determining a second vehicle that has completed positioning system calibration comprises:

broadcasting a position detection request to the scanning range;

3. The positioning system calibration method of claim 2, further comprising: receiving a vehicle identification of a third vehicle fed back by the third vehicle based on the position detection request;

the sending a calibration request to the second vehicle includes:

4. The positioning system calibration method of claim 1, wherein said calibrating the positioning system of the first vehicle based on the actual position information comprises:

5. A positioning system calibration method for a vehicle, applied to a second vehicle that has completed positioning system calibration, the positioning system calibration method comprising:

receiving a calibration request sent by a first vehicle;

transmitting the actual position information to the first vehicle.

6. A vehicle positioning system calibration device, applied to a first vehicle, the positioning system calibration device comprising:

7. A positioning system calibration device for a vehicle, applied to a second vehicle for which positioning system calibration has been completed, comprising:

8. A computer device, comprising: a processor, a memory storing machine readable instructions executable by the processor for executing machine readable instructions stored in the memory, the machine readable instructions when executed by the processor, the processor performing the steps of the method of calibrating a positioning system of a vehicle according to any of claims 1 to 5.

9. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a computer arrangement, carries out the steps of the method for calibrating a positioning system of a vehicle according to any one of claims 1 to 5.

10. A computer program product comprising computer instructions, characterized in that said computer instructions, when executed by a processor, implement the steps of a method for calibrating a positioning system of a vehicle according to any one of claims 1 to 5.