CN113986852A - Driving program calibration parameter matching method and device, electronic equipment and storage medium - Google Patents
Driving program calibration parameter matching method and device, electronic equipment and storage medium Download PDFInfo
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- CN113986852A CN113986852A CN202111627639.9A CN202111627639A CN113986852A CN 113986852 A CN113986852 A CN 113986852A CN 202111627639 A CN202111627639 A CN 202111627639A CN 113986852 A CN113986852 A CN 113986852A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/10—File systems; File servers
- G06F16/17—Details of further file system functions
- G06F16/172—Caching, prefetching or hoarding of files
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/10—File systems; File servers
- G06F16/14—Details of searching files based on file metadata
- G06F16/148—File search processing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/70—Software maintenance or management
- G06F8/71—Version control; Configuration management
Abstract
The invention relates to the technical field of intelligent vehicle driving, and provides a driving program calibration parameter matching method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring an identifier of a target vehicle; determining a calibration parameter file corresponding to the target vehicle in a preset file library according to the identifier; wherein, the file library comprises calibration parameter files corresponding to the identifiers; and configuring the calibration parameter file in a preset standard driving program to generate a driving program corresponding to the target vehicle. According to the driving program calibration parameter matching method, the device, the electronic equipment and the storage medium, the corresponding calibration parameter file can be determined in the calibration parameter files through the identifier of the vehicle, then the driving program required by the vehicle is generated based on the determined calibration parameter file, the method and the device are suitable for automatic driving service of the vehicle automatically adapting to multiple vehicle types, and configuration efficiency of the driving program is improved.
Description
Technical Field
The invention relates to the technical field of intelligent vehicle driving, in particular to a driving program calibration parameter matching method, a driving program calibration parameter matching device, electronic equipment and a storage medium.
Background
At the present stage, because the automatic driving vehicles are mostly in the research and development or test stage, each vehicle is provided with an individually matched control program, and the automatic driving vehicle programs adopt a multi-vehicle type version management method at present; and a control program corresponding to each vehicle type and responding to the vehicle type. With the development of the automatic driving control technology, the automatic driving vehicle enters the operation stage, and vehicles carrying the automatic driving control system relate to more and more vehicle types and vehicles. Each vehicle carrying automatic driving needs corresponding matched calibration parameters; the method that each vehicle and each vehicle type correspond to one set of matched control program brings heavy work to automatic driving vehicle management, and matching errors are easy to occur.
The closest prior art to this application includes: CN109753061A, CN107544461A, CN105577443A, CN 110194178A.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a driving program calibration parameter matching method, a driving program calibration parameter matching device, electronic equipment and a storage medium.
In a first aspect, the present invention provides a method for matching calibration parameters of a driving program, wherein:
acquiring an identifier of a target vehicle;
determining a calibration parameter file corresponding to the target vehicle in a preset file library according to the identifier; wherein, the file library comprises calibration parameter files corresponding to the identifiers;
and configuring the calibration parameter file in a preset standard driving program to generate a driving program corresponding to the target vehicle.
In one embodiment, the method further comprises:
receiving a calibration parameter file to be stored and an identifier to be stored, which are sent by a cloud platform;
after the identifier to be stored is determined to be stored in the file library, judging whether the parameter item of the calibration parameter file to be stored is complete; and after the parameter item is determined to be complete, establishing a corresponding relation between the identifier to be stored and the calibration parameter file to be stored, and storing the calibration parameter file to be stored.
In one embodiment, the method further comprises: and after the identifier to be stored is determined to be stored in the file library, the storage of the calibration parameter file to be stored is abandoned.
In one embodiment, the method further comprises: and after the parameter item is determined to be incomplete, generating a parameter item incomplete report, and reporting the parameter item incomplete report to the cloud platform.
In one embodiment, the method further comprises:
after a driving program corresponding to the target vehicle is generated, caching a calibration parameter file of the target vehicle in a preset cache space;
and acquiring the identifier of the target vehicle again, and determining a calibration parameter file corresponding to the target vehicle in the cache space according to the identifier.
In one embodiment, obtaining an identifier of a target vehicle includes:
after determining that the target vehicle is started, reading the identifier of the target vehicle.
In one embodiment, the method further comprises:
before the calibration parameter file is configured to a preset standard driving program, whether a parameter item of the calibration parameter file can be read is determined, and a parameter item reading failure report is generated when the parameter item cannot be completely read is determined.
In a second aspect, the present invention provides a driving program calibration parameter matching apparatus, including:
an acquisition module for acquiring an identifier of a target vehicle;
the matching module is used for determining a calibration parameter file corresponding to the target vehicle in a preset file library according to the identifier; wherein, the file library comprises calibration parameter files corresponding to the identifiers;
and the generating module is used for configuring the calibration parameter file in a preset standard driving program and generating a driving program corresponding to the target vehicle.
In one embodiment, the apparatus further comprises a storage module to:
receiving a calibration parameter file to be stored and an identifier to be stored, which are sent by a cloud platform;
after determining that the identifier to be stored does not exist in the file library, judging whether the parameter item of the calibration parameter file to be stored is complete; and after the parameter item is determined to be complete, establishing a corresponding relation between the identifier to be stored and the calibration parameter file to be stored, and storing the calibration parameter file to be stored.
In one embodiment, the storage module is further configured to: and after the identifier to be stored is determined to be stored in the file library, the storage of the calibration parameter file to be stored is abandoned.
In one embodiment, the storage module is further configured to: and after the parameter item is determined to be incomplete, generating a parameter item incomplete report, and reporting the parameter item incomplete report to the cloud platform.
In one embodiment, the matching module is further configured to:
after a driving program corresponding to the target vehicle is generated, caching a calibration parameter file of the target vehicle in a preset cache space;
and acquiring the identifier of the target vehicle again, and determining a calibration parameter file corresponding to the target vehicle in the cache space according to the identifier.
In one embodiment, the obtaining module is specifically configured to:
after determining that the target vehicle is started, reading the identifier of the target vehicle.
In one embodiment, the generation module is further configured to:
before the calibration parameter file is configured to a preset standard driving program, whether the calibration parameter file is complete or not is determined, and when the parameter item is determined to be incomplete, a parameter item incomplete report is generated and displayed.
In a third aspect, the present invention provides an electronic device, which includes a memory and a memory storing a computer program, and when the processor executes the program, the steps of the driving program calibration parameter matching method according to the first aspect are implemented.
In a fourth aspect, the present invention provides a processor-readable storage medium storing a computer program for causing a processor to execute the steps of the driving program calibration parameter matching method of the first aspect.
According to the driving program calibration parameter matching method, the device, the electronic equipment and the storage medium, the corresponding calibration parameter file can be determined in the calibration parameter files through the identifier of the vehicle, then the driving program required by the vehicle is generated based on the determined calibration parameter file, the method and the device are suitable for automatic driving service of the vehicle automatically adapting to multiple vehicle types, and configuration efficiency of the driving program is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a driving program calibration parameter matching method provided by the invention;
FIG. 2 is a schematic structural diagram of a driving program calibration parameter matching device provided by the invention;
fig. 3 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
The driving program calibration parameter matching method, device, electronic device and storage medium of the present invention are described below with reference to fig. 1 to 3.
Fig. 1 shows a flow chart of a driving program calibration parameter matching method of the present invention, referring to fig. 1, the method includes:
11. acquiring an identifier of a target vehicle;
12. determining a calibration parameter file corresponding to the target vehicle in a preset file library according to the identifier; wherein, the file library comprises calibration parameter files corresponding to the identifiers;
13. and configuring the calibration parameter file in a preset standard driving program to generate a driving program corresponding to the target vehicle.
With respect to steps 11 to 13, it should be noted that, in the present invention, each vehicle has a unique identifier.
For example, when different vehicle models of the same brand require different automatic driving programs, the identifier may be a vehicle model number.
For example, when the same model of vehicle is of the same brand, the selection of the business function may be made based on the purchaser's demand for autonomous driving. At this time, the identifier may be in the form of a combination of a vehicle type number and a combination number of a function combination.
As such, the identifier of the vehicle is used to determine the corresponding calibration parameter file for the matching query. The calibration parameter file comprises a plurality of parameter items, and the parameter items can provide corresponding service execution functions in the automatic driving process of the vehicle. For example, the parameter items include control parameters, planning parameters, laser radar parameters, camera configuration parameters, and the like, which are not mentioned herein.
In the invention, each vehicle is provided with a driving controller, a file library is arranged in the driving controller, and calibration parameter files corresponding to all identifiers are stored in the file library.
For example, when 10 different vehicle types of the same brand are used, the file library stores calibration parameter files corresponding to 10 identifiers for the brand.
In the present invention, the driving controller further stores a standard driving program, which is a basic driving program applicable to all vehicle types. A blank is left in the parameter position of the calibration parameter in the labeling driving program, and each parameter item in the calibration parameter file to be determined is added, so that the driving program required by the vehicle is further generated.
After the driving program is generated, the target vehicle may initiate the driving program based on the driving controller, thereby providing the target vehicle with an automatic driving service.
Accordingly, when the calibration parameter file corresponding to the target vehicle cannot be determined in the preset file library according to the identifier, the calibration parameter file is determined
According to the driving program calibration parameter matching method provided by the invention, the corresponding calibration parameter files can be determined in the calibration parameter files through the identifiers of the vehicles, and then the driving program required by the vehicle is generated based on the determined calibration parameter files, so that the method is suitable for automatic driving service of the vehicle for automatically adapting to multiple vehicle types, and the configuration efficiency of the driving program is improved.
In the further method of the above method, the management of the calibration parameter file is mainly explained, which is specifically as follows:
receiving a calibration parameter file to be stored and an identifier to be stored, which are sent by a cloud platform;
after determining that the identifier to be stored does not exist in the file library, judging whether the parameter item of the calibration parameter file to be stored is complete; and after the parameter item is determined to be complete, establishing a corresponding relation between the identifier to be stored and the calibration parameter file to be stored, and storing the calibration parameter file to be stored.
In this regard, it should be noted that, in the present invention, when a new vehicle type or a new vehicle with calibrated parameters is put into a driving scene, the vehicle sends its own calibration parameter file and corresponding identifier to the cloud platform, and the cloud platform sends the calibration parameter file and corresponding identifier to other vehicles within the corresponding range.
In the invention, the parameter items of the calibration parameters required by automatic driving are relatively fixed under the same identifier, so that when the identifier to be stored exists in the file library, whether the parameter items contained in the calibration parameter file to be stored are complete or not, namely whether all the parameter items are contained or not, needs to be judged.
For example, the complete parameter items include control parameters, planning parameters, laser radar parameters, and camera configuration parameters. At this time, if the identifier to be stored contains the control parameter, the planning parameter and the laser radar parameter, it indicates that the parameter item of the calibration parameter file to be stored is incomplete.
And when the parameter item is determined to be complete, establishing a corresponding relation between the identifier to be stored and the calibration parameter file to be stored, storing the calibration parameter file to be stored, and realizing the storage of the calibration parameter file to be stored by the driving controller.
It should be further described that, after it is determined that the identifier to be stored is stored in the file library, it indicates that the calibration parameter file to be stored corresponding to the identifier to be stored has been stored in the driving controller, and at this time, the storage of the calibration parameter file to be stored needs to be abandoned.
It should be further described that, after the parameter item is determined to be incomplete, a parameter item incomplete report is generated, and the parameter item incomplete report is reported to the cloud platform. And the cloud platform sends the incomplete report of the parameter item to the corresponding vehicle so that the staff can detect the calibration parameter file of the vehicle.
According to the method, the newly calibrated parameter file is shared through the cloud platform, so that the calibrated parameter file stored by the driving controller can be updated at any time, and the method is suitable for automatic driving services of more vehicle types.
In a further method of the above method, the standard driving program is configured to generate a corresponding driving program each time the driving service is initiated due to the driving controller. To this end, the identifiers are matched during each pass. When the driving controller stores a large number of calibration parameter files, the complexity of the processing is increased. For this purpose, in the present invention, after the driving program corresponding to the target vehicle is generated, the calibration parameter file of the target vehicle is cached in a preset cache space. The cache space is only used for caching the calibration parameter file obtained by matching.
When the driving controller acquires the identifier of the target vehicle again (i.e. starts the driving service again), the calibration parameter file corresponding to the target vehicle can be determined in the cache space according to the identifier without matching the calibration parameter file from the file library. At the moment, the required calibration parameter file can be obtained by matching in the cache space quickly, so that a large number of matching calculation processes in the file library are reduced, and the processing complexity is reduced.
In a further method of the above method, a process of acquiring the identifier of the target vehicle is mainly explained, which specifically includes the following steps:
when it is determined that the target vehicle is started, the driving controller reads the identifier of the target vehicle.
In a further method of the above method, there may be a fault in the existing calibration parameter file, for example, the parameter items all have, but the contents of some of the parameter items cannot be read. In this case, the generation of the driving program is affected. Therefore, before the calibration parameter file is configured to the preset standard driving program, the content of each parameter item of the calibration parameter file is read, and when the parameter items of the calibration parameter file can be read, the driving program required by the target vehicle is generated according to the calibration parameter file and the preset standard driving program. And when the parameter item is determined not to be completely read, generating a parameter item reading failure report.
According to the further method, the defects of the calibration parameter file can be found in time by reading each parameter item of the calibration parameter file, and the situation that the generated control program is unavailable and safe driving is influenced is avoided.
The driving program calibration parameter matching device provided by the invention is described below, and the driving program calibration parameter matching device described below and the driving program calibration parameter matching method described above can be referred to in a corresponding manner.
Fig. 2 shows a schematic structural diagram of a driving program calibration parameter matching device provided by the invention, referring to fig. 2, the device comprises an obtaining module 21, a matching module 22 and a generating module 23, wherein the device comprises
An acquisition module 21 configured to acquire an identifier of a target vehicle;
the matching module 22 is used for determining a calibration parameter file corresponding to the target vehicle in a preset file library according to the identifier; wherein, the file library comprises calibration parameter files corresponding to the identifiers;
the generating module 23 is configured to configure the calibration parameter file in a preset standard driving program, and generate a driving program corresponding to the target vehicle.
In a further aspect of the above apparatus, the apparatus further comprises a storage module configured to:
receiving a calibration parameter file to be stored and an identifier to be stored, which are sent by a cloud platform;
after determining that the identifier to be stored does not exist in the file library, judging whether the parameter item of the calibration parameter file to be stored is complete; and after the parameter item is determined to be complete, establishing a corresponding relation between the identifier to be stored and the calibration parameter file to be stored, and storing the calibration parameter file to be stored.
In a further aspect of the above apparatus, the storage module is further configured to: and after the identifier to be stored is determined to be stored in the file library, the storage of the calibration parameter file to be stored is abandoned.
In a further aspect of the above apparatus, the storage module is further configured to: and after the parameter item is determined to be incomplete, generating a parameter item incomplete report, and reporting the parameter item incomplete report to the cloud platform.
In a further aspect of the above apparatus, the matching module is further configured to:
after a driving program corresponding to the target vehicle is generated, caching a calibration parameter file of the target vehicle in a preset cache space;
and acquiring the identifier of the target vehicle again, and determining a calibration parameter file corresponding to the target vehicle in the cache space according to the identifier.
In a further apparatus of the above apparatus, the obtaining module is specifically configured to:
after determining that the target vehicle is started, reading the identifier of the target vehicle.
In a further aspect of the above apparatus, the generating module is further configured to:
before the calibration parameter file is configured to a preset standard driving program, whether the calibration parameter file is complete or not is determined, and when the parameter item is determined to be incomplete, a parameter item incomplete report is generated and displayed.
Since the principle of the apparatus according to the embodiment of the present invention is the same as that of the method according to the above embodiment, further details are not described herein for further explanation.
It should be noted that, in the embodiment of the present invention, the relevant functional module may be implemented by a hardware processor (hardware processor).
The driving program calibration parameter matching device provided by the invention can determine the corresponding calibration parameter files in the calibration parameter files through the identifiers of the vehicles, and then generates the driving program required by the vehicles based on the determined calibration parameter files, so that the driving program calibration parameter matching device is suitable for automatic driving service of the vehicles automatically adapting to multiple vehicle types, and the configuration efficiency of the driving program is improved.
Fig. 3 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 3: a processor (processor) 31, a Communication Interface (Communication Interface) 32, a memory (memory) 33 and a Communication bus 34, wherein the processor 31, the Communication Interface 32 and the memory 33 are communicated with each other via the Communication bus 34. The processor 31 may invoke a computer program in the memory 33 to perform the steps of the driving program calibration parameter matching method, including, for example: acquiring an identifier of a target vehicle; determining a calibration parameter file corresponding to the target vehicle in a preset file library according to the identifier; wherein, the file library comprises calibration parameter files corresponding to the identifiers; and configuring the calibration parameter file in a preset standard driving program to generate a driving program corresponding to the target vehicle.
In addition, the logic instructions in the memory 33 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of 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 invention. 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.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to execute the driving program calibration parameter matching method provided by the above methods, the method comprising: acquiring an identifier of a target vehicle; determining a calibration parameter file corresponding to the target vehicle in a preset file library according to the identifier; wherein, the file library comprises calibration parameter files corresponding to the identifiers; and configuring the calibration parameter file in a preset standard driving program to generate a driving program corresponding to the target vehicle.
On the other hand, an embodiment of the present application further provides a processor-readable storage medium, where the processor-readable storage medium stores a computer program, where the computer program is configured to enable the processor to execute the driving program calibration parameter matching method provided in each of the above embodiments, for example, the method includes: acquiring an identifier of a target vehicle; determining a calibration parameter file corresponding to the target vehicle in a preset file library according to the identifier; wherein, the file library comprises calibration parameter files corresponding to the identifiers; and configuring the calibration parameter file in a preset standard driving program to generate a driving program corresponding to the target vehicle.
The processor-readable storage medium can be any available medium or data storage device that can be accessed by a processor, including, but not limited to, magnetic memory (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical memory (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor memory (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND FLASH), Solid State Disks (SSDs)), etc.
The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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 of the embodiments of the present invention.
Claims (10)
1. A driving program calibration parameter matching method is characterized by comprising the following steps:
acquiring an identifier of a target vehicle;
determining a calibration parameter file corresponding to the target vehicle in a preset file library according to the identifier; wherein, the file library comprises calibration parameter files corresponding to the identifiers;
and configuring the calibration parameter file in a preset standard driving program to generate a driving program corresponding to the target vehicle.
2. The driving program calibration parameter matching method according to claim 1, further comprising:
receiving a calibration parameter file to be stored and an identifier to be stored, which are sent by a cloud platform;
after determining that the identifier to be stored does not exist in the file library, judging whether the parameter item of the calibration parameter file to be stored is complete; and after the parameter item is determined to be complete, establishing a corresponding relation between the identifier to be stored and the calibration parameter file to be stored, and storing the calibration parameter file to be stored.
3. The driving program calibration parameter matching method according to claim 2, further comprising: and after the identifier to be stored is determined to be stored in the file library, the storage of the calibration parameter file to be stored is abandoned.
4. The driving program calibration parameter matching method according to claim 2, further comprising: and after the parameter item is determined to be incomplete, generating a parameter item incomplete report, and reporting the parameter item incomplete report to the cloud platform.
5. The driving program calibration parameter matching method according to any one of claims 1-4, characterized in that the method further comprises:
after a driving program corresponding to the target vehicle is generated, caching a calibration parameter file of the target vehicle in a preset cache space;
and acquiring the identifier of the target vehicle again, and determining a calibration parameter file corresponding to the target vehicle in the cache space according to the identifier.
6. The driving program calibration parameter matching method according to claim 5, wherein obtaining an identifier of a target vehicle includes:
after determining that the target vehicle is started, reading the identifier of the target vehicle.
7. The driving program calibration parameter matching method according to claim 1, further comprising:
before the calibration parameter file is configured to a preset standard driving program, whether a parameter item of the calibration parameter file can be read is determined, and a parameter item reading failure report is generated when the parameter item cannot be completely read is determined.
8. A driving program calibration parameter matching device is characterized by comprising:
an acquisition module for acquiring an identifier of a target vehicle;
the matching module is used for determining a calibration parameter file corresponding to the target vehicle in a preset file library according to the identifier; wherein, the file library comprises calibration parameter files corresponding to the identifiers;
and the generating module is used for configuring the calibration parameter file in a preset standard driving program and generating a driving program corresponding to the target vehicle.
9. An electronic device comprising a processor and a memory storing a computer program, wherein the processor when executing the computer program implements the steps of the driving program calibration parameter matching method according to any one of claims 1 to 7.
10. A processor-readable storage medium, characterized in that the processor-readable storage medium stores a computer program for causing a processor to execute the steps of the driving program calibration parameter matching method according to any one of claims 1 to 7.
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Cited By (1)
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| CN117289686A (en) * | 2023-11-27 | 2023-12-26 | 中国第一汽车股份有限公司 | Parameter calibration method and device, electronic equipment and storage medium |
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Application publication date: 20220128 |