CN114537416A - Calibration table generation method and device, electronic equipment and storage medium - Google Patents

Abstract

The application is applicable to the technical field of data processing, and provides a calibration table generation method, a calibration table generation device, electronic equipment and a storage medium, wherein the method comprises the following steps: generating a curve to be calibrated corresponding to each vehicle speed regulation operation according to the acquired motion data of the target vehicle under different vehicle speed regulation operations; if a curve intersection point exists between any two curves to be calibrated, adjusting a curve section where the curve intersection point is located in any two curves to be calibrated according to the curve intersection point to obtain a primary calibration curve; straightening the curve to be straightened corresponding to each vehicle speed regulation operation to obtain a secondary correction curve; the curve to be straightened is a primary correction curve or a curve to be corrected; and generating a calibration table of the target vehicle based on the quadratic correction curve. By adopting the method, the accuracy of the calibration curve can be improved while the generation efficiency of each calibration curve in the calibration table is improved.

Description

A method, device, electronic device and storage medium for generating a calibration table

technical field

The present application belongs to the technical field of data processing, and in particular, relates to a method, device, electronic device and storage medium for generating a calibration table.

Background technique

With the continuous popularization of automobiles, self-driving has become the most commonly used way of travel. During the driving process, the user can control the speed of the vehicle by controlling the accelerator and brake, and the opening of the accelerator and brake (that is, the stepping Depth) will directly determine the speed of the vehicle speed control, that is, the acceleration of the vehicle during driving. In the process of the user controlling the acceleration of the vehicle, from the user controlling the accelerator or the brake to the actual response of the car, the conversion from the accelerator/brake pedal system - the vehicle power system - acceleration is required, which is a relatively complex realization process. The accuracy of the conversion between operation and acceleration can be determined by configuring a calibration table to determine the acceleration corresponding to different vehicle speed control operations (ie, controlling the opening of the accelerator and the brake).

The existing method for generating the calibration table is mainly to obtain the corresponding motion data under different vehicle speed control operations during the driving process of the vehicle, and to mark the acceleration corresponding to each vehicle speed control operation by means of human experience. The above method relies on manual labor. Experience is completed, the generation efficiency is low and the accuracy cannot be guaranteed.

SUMMARY OF THE INVENTION

The embodiments of the present application provide a method, device, electronic device, and storage medium for generating a calibration table, which can solve the problems that the existing generation technology of the calibration table relies on manual experience, the generation efficiency is low, and the accuracy cannot be guaranteed.

In a first aspect, an embodiment of the present application provides a method for generating a calibration table, which is applied to an encryption device, including:

According to the collected motion data about the target vehicle under different vehicle speed control operations, a to-be-calibrated curve corresponding to each of the vehicle speed control operations is generated; the to-be-calibrated curve is used to represent the speed of the target vehicle under the vehicle speed control operation Corresponding relationship with acceleration;

If there is a curve intersection point between any two curves to be calibrated, adjust the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point to obtain a primary calibration curve;

performing straightening processing on the curves to be straightened corresponding to each of the vehicle speed control operations to obtain a secondary correction curve; the curve to be straightened is the primary correction curve or the curve to be calibrated;

Based on the quadratic correction curve, a calibration table for the target vehicle is generated.

In a possible implementation manner of the first aspect, if there is a curve intersection point between any two curves to be calibrated, adjust the position where the curve intersection point of the any two curves to be calibrated is located according to the curve intersection point. Curve segment, get a calibration curve, including:

According to the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, the curve segments that do not conform to the monotonic relationship are respectively identified from the any two intersecting curves; the intersecting curve is the The curve to be calibrated or the Nth adjustment curve; the initial value of N is 0;

Based on the curve segment of any one of the any two intersecting curves, adjusting the curve segment of the other curve of the any two intersecting curves to obtain the Nth adjustment curve;

If the curve intersection point does not exist between the Nth adjustment curve and/or the to-be-calibrated curve of all vehicle speed control operations, identify the Nth adjustment curve as the primary correction curve, and execute the Performing a flattening process on the to-be-flattened curve corresponding to each of the vehicle speed control operations to obtain an operation of a quadratic correction curve;

If there is the curve intersection point between the curves corresponding to all the vehicle speed control operations, increase the value of N, and return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersection curves, respectively The curve segment that does not conform to the monotonic relationship is identified from the any two intersecting curves; the curve corresponding to the vehicle speed control operation is the to-be-calibrated curve or the Nth adjustment curve.

In a possible implementation manner of the first aspect, if there is the curve intersection point between the curves corresponding to all the vehicle speed control operations, increase the value of N, and return to execute the corresponding curve according to any two intersection curves. The monotonic relationship between the vehicle speed control operations, respectively identifying the curve segments that do not conform to the monotonic relationship from the any two intersecting curves, including:

The value of N is increased if there is the curve intersection point between the curves corresponding to all the vehicle speed control operations;

If the value of N is greater than the preset upper limit of the cycle, based on the preset adjustment threshold and the monotonic relationship, the curve segments in the any two cross curves are adjusted to obtain a primary correction curve;

If the value of N is less than or equal to the upper limit of the cycle, return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersection curves, respectively from the any two intersection curves. The segment of the curve that does not meet the monotonic relationship is identified.

In a possible implementation manner of the first aspect, the flattening process is performed on the to-be-flattened curve corresponding to each of the vehicle speed control operations to obtain a quadratic correction curve, including:

According to the acceleration extreme value in the to-be-flattened curve, calculate the root mean square of the to-be-flattened curve; the acceleration extreme value is the same as the vehicle speed control direction of the vehicle speed control operation;

If the root mean square is greater than or equal to a preset floating threshold, the curve to be flattened is processed by a preset curve convergence algorithm until the root mean square of the processed curve is less than the floating threshold, and the obtained the quadratic calibration curve;

If the root mean square is less than the floating threshold, the curve to be flattened is identified as the quadratic correction curve.

In a possible implementation manner of the first aspect, if the root mean square is greater than or equal to a preset floating threshold, the curve to be flattened is processed by a preset curve convergence algorithm until processing The root mean square of the latter curve is less than the floating threshold, and the quadratic correction curve is obtained, including:

Taking the median value between the actual acceleration corresponding to each speed point on the curve to be flattened and the acceleration extreme value as the correction acceleration of each speed point;

obtaining a flattened curve based on the corrected accelerations of all the speed points;

based on the acceleration extreme value, calculating the root mean square of the flattened curve;

If the root mean square of the flattened curve is greater than or equal to the floating threshold value, return to execute the process of comparing the actual acceleration corresponding to each speed point on the curve to be flattened and the acceleration extreme value. The median value is used as the corrected acceleration for each of the speed points until the root mean square of the flattened curve is less than the floating threshold.

In a possible implementation manner of the first aspect, generating the calibration table of the target vehicle based on the quadratic calibration curve includes:

Identifying redundant curves according to the degree of deviation between each of the secondary calibration curves;

Remove the redundant curves from all the quadratic calibration curves to obtain a valid calibration curve;

A calibration table of the target vehicle is generated based on all valid calibration curves and vehicle speed control operations corresponding to the valid calibration curves.

In a possible implementation manner of the first aspect, identifying the redundant curve according to the degree of deviation between each of the quadratic calibration curves includes:

taking the first mean value of the acceleration deviation between each speed point between the first curve of the upper limit acceleration operation and the second curve of the lower limit deceleration operation as the limit deviation value of the target vehicle;

Calculate the second mean value of the acceleration deviations between any two quadratic calibration curves at each speed point, and use the ratio between the second mean value and the limit deviation as the difference between the any two quadratic calibration curves. the degree of deviation;

If the degree of deviation is smaller than a preset deviation threshold, then one of the two quadratic calibration curves is identified as the redundant curve.

In a second aspect, an embodiment of the present application provides a device for generating a calibration table, including:

A motion data acquisition unit, configured to generate a curve to be calibrated corresponding to each of the vehicle speed control operations according to the collected motion data about the target vehicle under different speed control operations; the to-be-calibrated curve is used to indicate that the target vehicle is in the corresponding relationship between the speed and the acceleration under the vehicle speed control operation;

a primary correction unit, configured to adjust the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point, to obtain a primary correction curve;

a secondary correction unit, configured to perform flattening processing on the curves to be flattened corresponding to each of the vehicle speed control operations to obtain a secondary correction curve; the curve to be flattened is the primary correction curve or the curve to be calibrated;

A calibration table generating unit, configured to generate a calibration table of the target vehicle based on the quadratic correction curve.

In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, when the processor executes the computer program A method as described in any one of the above first aspects is implemented.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the implementation of any one of the foregoing first aspect Methods.

In a fifth aspect, an embodiment of the present application provides a computer program product that, when the computer program product runs on a server, causes the server to execute the method described in any one of the foregoing first aspects.

Compared with the prior art, the beneficial effect of the embodiment of the present application is: by acquiring the motion data corresponding to the target vehicle under different speed control operations, the to-be-calibrated curves corresponding to different speed control operations are generated. The accelerations between the speed control operations of the different speed control operations are in line with the monotonic relationship between each other, that is, the curves do not cross. Therefore, the electronic device can adjust the curve to be calibrated with the intersection of the curves to obtain a correction curve, and then pass the pre-calibration curve. The designed straightening processing algorithm performs straightening processing on the curve to process the curve segment with sudden acceleration, so that the corresponding acceleration of the vehicle speed control operation at different speeds tends to be stable, and then the target vehicle is generated according to all quadratic correction curves. The calibration table realizes the purpose of automatic generation of the calibration table. Compared with the generation technology of the existing calibration table, the calibration table in the embodiment of the present application can be automatically generated, and the parts in the calibration table where the acceleration has a monotonic abnormality in each curve to be calibrated is adjusted, and the curve is straightened, In order to realize the correction of the curve, while improving the generation efficiency of each calibration curve in the calibration table, the accuracy of the calibration curve can also be improved.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present application. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic diagram of the realization of a method for generating a calibration table provided by an embodiment of the present application;

2 is a schematic diagram of a curve to be calibrated provided by an embodiment of the present application;

3 is a schematic diagram of a straightening process provided by an embodiment of the present application;

4 is a schematic diagram of an implementation manner of a method for generating a calibration table S102 provided by an embodiment of the present application;

5 is a schematic diagram of curve segment adjustment provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of cross-correction provided by an embodiment of the present application;

7 is a schematic diagram of an implementation of S103 of a method for generating a calibration table provided by an embodiment of the present application;

8 is a schematic diagram of a curve flattening process provided by an embodiment of the present application;

9 is a schematic diagram of an implementation of S104 of a method for generating a calibration table provided by an embodiment of the present application;

10 is a schematic diagram of filtering a calibration curve provided by an embodiment of the present application;

11 is a schematic structural diagram of a device for generating a calibration table provided by an embodiment of the present application;

FIG. 12 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or sets thereof.

In addition, in the description of the specification of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and should not be construed as indicating or implying relative importance.

The method for generating a calibration table provided by the embodiments of the present application can be applied to smart phones, servers, tablet computers, notebook computers, ultra-mobile personal computers (UMPC), netbooks, servers, etc., and can generate information about the target vehicle. on the electronics of the calibration table. The embodiments of the present application do not limit any specific types of electronic devices.

Please refer to FIG. 1. FIG. 1 shows a schematic implementation diagram of a method for generating a calibration table provided by an embodiment of the present application. The method includes the following steps:

In S101, a curve to be calibrated corresponding to each of the vehicle speed control operations is generated according to the collected motion data about the target vehicle under different speed control operations; the to-be-calibrated curve is used to indicate that the target vehicle is at the vehicle speed Correspondence between speed and acceleration under control operation.

In this embodiment, the vehicle speed control operation is specifically an operation initiated by the user that will affect the driving speed of the target vehicle, including: controlling the accelerator of the vehicle (that is, increasing the driving speed) and controlling the braking of the vehicle (that is, reducing the driving speed), According to the pressure of the user pressing the accelerator or brake, the opening of the accelerator or brake can be changed. Larger, the greater the corresponding negative acceleration, that is, the faster the driving speed drops. Therefore, the opening of the accelerator and the brake is different, and the corresponding acceleration value will also be different during the driving process. In order to accurately respond to the user-initiated The speed regulation operation is to control the target vehicle to drive at the acceleration corresponding to the speed regulation operation, and a calibration table needs to be set, so that the acceleration corresponding to different vehicle speed regulation operations at each speed can be determined.

In this embodiment, before the target vehicle leaves the factory, a vehicle driving test can be performed to obtain the acceleration values corresponding to different driving speeds of the target vehicle under different vehicle speed control operations. For example, when the accelerator opening is at 5%, The corresponding acceleration at each vehicle speed is obtained, and the corresponding motion data is obtained when the accelerator opening is 5%; and then the corresponding acceleration at each vehicle speed is obtained when the accelerator opening is 10%, and the accelerator opening is obtained. The corresponding motion data in the state of 5%, and so on, are obtained to obtain the corresponding motion data under all vehicle speed control operations.

It should be noted that different vehicle speed control operations have corresponding vehicle speed control directions, which also have fixed monotonic characteristics between them. For example, all the throttle control operations are to increase the vehicle speed, that is, the acceleration is positive, and the direction of the speed control is the positive direction of the speed; all the brake control operations are to reduce the vehicle speed, that is, the acceleration is negative. , and its speed regulation direction is the negative direction of speed. That is, the vehicle speed control direction of the vehicle speed control operation is related to its operation type. On the other hand, there is also strict monotonicity between different speed control operations. Among them, the larger the accelerator opening, the larger the corresponding acceleration value. For example, the acceleration corresponding to the state where the accelerator opening is 10% is greater than the corresponding acceleration when the accelerator opening is 5%; the braking opening is 10%. The corresponding negative acceleration in the state of % is also greater than the negative acceleration corresponding to the state in which the brake opening is 5%. Of course, if some vehicles do not accelerate or decelerate through the accelerator or brake, such as increasing the operating gear, the corresponding vehicle speed control direction and monotonic relationship can be determined according to the type of gear, which is not limited here.

In a possible implementation manner, the electronic device may determine a plurality of vehicle speed control operations that need to generate a curve to be calibrated within the vehicle speed control operation range according to a preset interpolation number, wherein the number of vehicle speed control operations is based on the above The number of interpolations is determined. If the number of interpolations is 6, and the vehicle speed control operations corresponding to the two boundary values of the vehicle speed control operation range are added, the total number of curves to be calibrated that needs to be generated is 8. For example, the state corresponding to the maximum accelerator opening is defined as +100%, and the corresponding state positioning when the brake opening is maximum is -100%, then the data set of different vehicle speed control speeds to be collected is: {cmd }={-100,-50,-25,-10,10,25,50,100}.

In this embodiment, the electronic device can classify each motion data according to the different speed control operations, and then count the corresponding accelerations of the target vehicle at different speeds during the test under the same speed control operation, so as to generate the speed control operation. The corresponding curve to be calibrated is operated to determine the corresponding relationship between the speed and the acceleration of the target vehicle under the vehicle speed control operation.

Exemplarily, FIG. 2 shows a schematic diagram of a curve to be calibrated provided by an embodiment of the present application. Referring to (a) in Figure 2, the abscissa in the coordinate system is the speed, and the ordinate is the acceleration. Different vehicle speed control operations correspond to different curves to be calibrated. For example, the vehicle speed control operation with an accelerator opening of 10% corresponds to The curve to be calibrated is curve 1, and the curve to be calibrated corresponding to a vehicle speed control operation with an accelerator opening of 20% is curve 2.

In S102, if there is a curve intersection point between any two curves to be calibrated, adjust the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point to obtain a primary calibration curve.

In this embodiment, after generating the curves to be calibrated corresponding to different vehicle speed control operations, the electronic device can mark each curve to be calibrated in the same coordinate system, and determine whether there is an overlapping curve intersection between the curves to be calibrated . Under normal circumstances, the monotonic relationship between the accelerations corresponding to different vehicle speed control operations is consistent with the monotonic relationship between their vehicle speed control operations. For example, at the same speed, the corresponding acceleration when the accelerator opening is 10%, It should be greater than the corresponding acceleration when the accelerator opening is 5%, that is, it conforms to the monotonic relationship between the accelerator opening of 10% and the accelerator opening of 5%. In this case, the relationship curves between acceleration and speed corresponding to different vehicle speed control operations should not have overlapping points of curve intersections. If there is a curve intersection, it can be considered that the value of the corresponding area is abnormal, and the curve segment in this area needs to be adjusted.

Exemplarily, continue to refer to (a) in FIG. 2 , the accelerator opening corresponding to curve 1 is 10%, and the accelerator opening corresponding to curve 2 is 20%. At the same speed, the theoretical accelerator opening is 10%. The acceleration should be less than the acceleration when the accelerator opening is 20 to meet the actual driving operation expectations of the user. When the speed is a, the two curves to be calibrated intersect. In the interval before the speed a, the accelerator opening is 10% of the acceleration. The acceleration is greater than the acceleration of 20% of the accelerator opening, which is inconsistent with the actual situation. Therefore, the curve segment where the speed is a (the curve segment where the speed is in the 0-a interval) can be identified as an abnormal curve segment, and the abnormal curve segment can be adjusted. .

In a possible implementation manner, the electronic device adjusts the curve segments whose intersection points of the curves are on different curves to be calibrated: according to the mean value of the acceleration corresponding to each coordinate point between the two curve segments, as the corresponding value of each coordinate point For the correction value, based on the correction value and the monotonic relationship between the two curves to be calibrated, each coordinate point on each of the two curve segments is adjusted to obtain a primary correction curve.

Continue to take Figure 2 as an example to illustrate, the acceleration of curve 1 in (a) in Figure 2 should be smaller than the acceleration of curve 2 before the speed is a, that is, curve 1 is monotonically decreasing relative to curve 2, so it can be determined according to The correction value reduces the acceleration corresponding to each coordinate point in the curve segment; while the curve 2 is monotonically rising relative to the curve 1, so the acceleration corresponding to each coordinate point in the curve segment can be increased according to the correction value. The modified adjustment curve is shown in the figure (b) in 2.

In a possible implementation manner, if there is no curve intersection between the curves to be calibrated corresponding to all the vehicle speed regulation operations, the operation of S103 is performed.

In a possible implementation manner, after the curve is adjusted according to the intersection point and a correction curve is obtained, it can be judged again whether there is still a curve intersection point, and if so, the operation of S102 is continued until all vehicle speed control operations correspond to After the curve to be calibrated or the primary calibration curve does not have a curve intersection point, the operation of S103 is performed again.

In S103, a straightening process is performed on the to-be-flattened curve corresponding to each of the vehicle speed control operations to obtain a secondary calibration curve; the to-be-flattened curve is the primary calibration curve or the to-be-calibrated curve.

In this embodiment, there will be a certain response delay in the process of motion data collection, which will lead to a mismatch between motion data and the actual vehicle speed control operation. In order to solve the curve caused by the above-mentioned delay in data collection In the case of jitter, the electronic device can straighten the primary correction curve and the curve to be calibrated, so that the acceleration of the vehicle speed control operation at different speeds tends to be stable, which is more suitable for the actual driving situation.

Exemplarily, FIG. 3 shows a schematic diagram of the flattening process provided by an embodiment of the present application. Referring to (a) in FIG. 3 , the acceleration of the curve to be flattened at different speeds fluctuates greatly, and the electronic The device can process the straight curve through the convergence algorithm, and the processed quadratic correction curve is shown in (b) in Figure 3.

In this embodiment, since there is no curve intersection between some of the curves of the vehicle speed control operation and other curves, no one-time correction is performed. Therefore, the curve to be flattened to be flattened in S103 may be a one-time correction curve, Or the curve to be calibrated, which is determined according to the actual situation.

In S104, a calibration table of the target vehicle is generated based on the quadratic correction curve.

In this embodiment, the electronic device can use the quadratic calibration curve corresponding to each vehicle speed control operation as the calibration curve corresponding to the target vehicle under the vehicle speed control operation, and encapsulate the calibration curves of all the vehicle speed control operations to obtain the A calibration table of the target vehicle for each speed regulation operation to determine the corresponding acceleration at different speeds.

It can be seen from the above that the method for generating a calibration table provided by the embodiment of the present application generates the to-be-calibrated curves corresponding to different speed control operations by acquiring motion data corresponding to the target vehicle under different speed control operations. , the accelerations between different vehicle speed control operations are in line with the monotonic relationship between each other, that is, the curves do not intersect. Therefore, the electronic device can adjust the curve to be calibrated with the intersection of the curves to obtain a correction curve, and then The curve is flattened by the preset flattening processing algorithm to process the curve segment with sudden acceleration, so that the acceleration corresponding to the vehicle speed control operation at different speeds tends to be stable, and then the curve is generated according to all quadratic correction curves. The calibration table of the target vehicle realizes the purpose of automatic generation of the calibration table. Compared with the generation technology of the existing calibration table, the calibration table in the embodiment of the present application can be automatically generated, and the parts in the calibration table where the acceleration has a monotonic abnormality in each curve to be calibrated is adjusted, and the curve is straightened, In order to realize the correction of the curve, while improving the generation efficiency of each calibration curve in the calibration table, the accuracy of the calibration curve can also be improved.

FIG. 4 shows a specific implementation flowchart of a method S102 for generating a calibration table provided by the second embodiment of the present invention. Referring to FIG. 4 , with respect to the embodiment shown in FIG. 1 , in a method for generating a calibration table provided in this embodiment, S102 includes: S1021 to S1024 , which are described in detail as follows:

Further, if there is a curve intersection point between any two curves to be calibrated, adjust the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point to obtain a primary calibration curve, including:

In S1021, if there is a curve intersection point between any two curves to be calibrated, according to the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, identify from the any two intersecting curves that are not the curve segment conforming to the monotonic relationship; the cross curve is the to-be-calibrated curve or the Nth adjustment curve; the initial value of N is 0;

In this embodiment, the electronic device can determine the monotonic relationship between the two intersecting curves under normal conditions according to the monotonic relationship of the vehicle speed control operations corresponding to the two curves having the curve intersection, then the electronic device can, according to the curve intersection, Within the range of the area corresponding to the curve intersection point, the curve segment that does not conform to the monotonic relationship is determined as the curve segment that needs to be adjusted. As shown in (a) in Figure 2, the curve segment of curve 1 and curve 2 within the speed range of (0-a) does not satisfy the monotonic relationship of the corresponding vehicle speed control operations, then it is regarded as the curve segment that needs to be adjusted. .

Among them, N is used to record the number of iterations in this cross-adjustment process, and the initial number of iterations is 0.

In S1022, the value of N is increased, and based on the curve segment of any one of the any two intersecting curves, the curve segment of the other curve of the any two intersecting curves is adjusted to obtain the Nth adjustment curve.

In this embodiment, since there are intersecting curves, one iteration is performed at this time, and the value of the number of iterations N is increased. Adjust, that is, adjust the curve segment in the range of (0-a) in curve 2 according to the curve segment in the range of (0-a] in curve 1, so as to obtain the curve after the first adjustment, that is, the Nth adjustment curve .

In a possible implementation manner, the electronic device may use the acceleration value in the curve segment of any one of any two intersecting curves as the acceleration value of the curve segment of the other curve in any two intersecting curves, that is, the two The acceleration values in the curve segment are swapped. Exemplarily, FIG. 5 shows a schematic diagram of curve segment adjustment provided by an embodiment of the present application. Referring to (a) in FIG. 5 , curve 1 is the corresponding relationship curve between acceleration and speed when the accelerator opening is 20% (that is, the curve to be calibrated or the Nth adjustment curve), and curve 2 is the accelerator opening. It is the corresponding relationship curve between 50% acceleration and speed (that is, the curve to be calibrated or the Nth adjustment curve). When the speed is v, the acceleration corresponding to curve 1 is a2, and the acceleration corresponding to curve 2 is a1. It can be seen that a2>a1, which does not conform to the monotonic relationship between the two vehicle speed adjustment operations. Therefore, the acceleration values of the above two coordinate points are exchanged, that is, the acceleration corresponding to curve 1 when the speed is v is adjusted to a1, and the curve 2 When the speed is v, the corresponding acceleration is adjusted to a2, and other coordinate points can also be set by the above method.

In S1023, if the curve intersection point does not exist between the curves corresponding to all the vehicle speed control operations, the Nth adjustment curve is identified as the primary correction curve, and the corresponding curve for each of the vehicle speed control operations is executed. An operation of performing a flattening process on the to-be-flattened curve to obtain a secondary correction curve; the curve corresponding to the vehicle speed control operation is the to-be-calibrated curve or the Nth adjustment curve.

In this embodiment, if after the adjustment in S1022 , there is no curve intersection between the curves corresponding to all the vehicle speed adjustment operations, the next operation can be performed at this time, that is, the operation of S1023 can be performed.

In S1024, if there is the curve intersection between the curves corresponding to any two of the vehicle speed control operations, return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersection curves, respectively The curve segment that does not conform to the monotonic relationship is identified from the any two intersecting curves.

In this embodiment, if there are still intersecting curves that overlap each other after the adjustment in S1022, the operation of S1021 can be returned to continue the adjustment.

In the embodiment of the present application, when there are intersecting curve segments, the value of one curve segment is adjusted according to the value of another curve segment, which can quickly realize the adjustment of curve segments that do not conform to monotonicity, and improve the efficiency of curve adjustment. It also reduces the difficulty of the algorithm.

Further, as another embodiment of the present application, the above S1024 may specifically include:

In S1024.1, if the curve intersection point exists between the curves corresponding to any two vehicle speed control operations, it is determined whether the value of N is greater than the preset upper limit value of the cycle.

In S1024.2, if the value of N is greater than a preset upper cycle limit value, adjust the curve segments in the any two cross curves based on a preset adjustment threshold and the monotonic relationship , to obtain a calibration curve.

In S1024.3, if the value of N is less than or equal to the upper limit value of the cycle, return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersection curves, respectively from the The curve segment that does not satisfy the monotonic relationship is identified from any two intersecting curves.

In this embodiment, when the number of iterations N is less than or equal to the upper limit of the loop, it is possible to return to S1021 to adjust the values in the curve segment again; and when the number of iterations is greater than the upper limit of the loop, it can be adjusted according to the preset value. The set adjustment threshold is used to adjust the curve segment in the cross curve, wherein the direction of adjustment is determined according to the monotonic relationship between the two cross curves. For example, as shown in (a) of FIG. 5 , curve 1 is the corresponding relationship curve between acceleration and speed when the accelerator opening is 20% (that is, the curve to be calibrated or the Nth adjustment curve), and curve 2 is the accelerator The corresponding relationship curve between acceleration and speed at 50% opening (that is, the curve to be calibrated or the Nth adjustment curve), the acceleration at 50% accelerator opening will be greater than the acceleration at 20% accelerator opening. Therefore, in When the speed is v, you can increase the acceleration corresponding to the throttle opening of 50% according to the adjustment threshold, for example, adjust it to a1', and reduce the acceleration corresponding to the throttle opening of 20% according to the adjustment threshold, for example, adjust it to a2', as shown in Figure 5 shown in (c).

Exemplarily, FIG. 6 shows a schematic diagram of cross-calibration provided by an embodiment of the present application. Referring to FIG. 6 (a), different vehicle speed control operations correspond to different curves to be calibrated, such as the indicated open in the upper right corner. The degree of opening is -50 (that is, the brake opening is 50%), the opening is 70 (that is, the accelerator opening is 70%), etc. After the adjustment in the above-mentioned embodiment, the curve segment of the intersecting part is adjusted to obtain the curve shown in (b) in FIG. 6 , so that the monotonic relationship between the curves at the same speed is different from the monotonicity of the vehicle speed control operation. The relationship is the same.

In this embodiment of the present application, by setting the upper limit of the iteration, the iteration is stopped when it is detected that the number of iterations exceeds the upper limit, and the curves that still have intersections are adjusted based on the preset adjustment threshold, which can reduce unnecessary Cycle times, improve the efficiency of calibration table generation.

FIG. 7 shows a specific implementation flowchart of a method S103 for generating a calibration table provided by the third embodiment of the present invention. Referring to FIG. 7 , with respect to the embodiment shown in FIG. 1 , a method S103 for generating a calibration table provided in this embodiment includes: S1031 to S1033 , which are described in detail as follows:

Further, the straightening process is performed on the to-be-flattened curve corresponding to each of the vehicle speed control operations to obtain a quadratic correction curve, including:

In S1031, the root mean square of the curve to be flattened is calculated according to the acceleration extreme value in the curve to be straightened; the acceleration extreme value is the same as the vehicle speed regulation direction of the vehicle speed regulation operation.

In this embodiment, the electronic device may determine the acceleration extreme value on the curve to be flattened corresponding to the vehicle speed control curve, and the acceleration extreme value is in the same direction as the vehicle speed control curve. If the vehicle speed adjustment direction is the positive direction of acceleration, the acceleration extreme value is the positive extreme value; otherwise, if the vehicle speed adjustment direction is the negative acceleration direction, the acceleration extreme value is the negative extreme value.

In this embodiment, the electronic device may calculate the root mean square of the curve to be flattened according to the extreme value of the acceleration, so as to determine whether the curve shape of the curve to be flattened is regionally stable. The calculation method of the root mean square can be expressed as:

Among them, M is the number of coordinate points included in the jth vehicle speed control operation; cmd _ji is the acceleration value of the ith coordinate point; {cmd _j } _max is the acceleration extreme value corresponding to the jth vehicle speed control operation. The larger the root mean square, the greater the degree of dispersion. Therefore, the root mean square can be compared with a preset floating threshold to determine whether the flattening process is required.

In S1032, if the root mean square is greater than or equal to a preset floating threshold, the curve to be flattened is processed by a preset curve convergence algorithm until the root mean square of the processed curve is less than the floating threshold threshold to obtain the quadratic calibration curve.

In this embodiment, if the root mean square is greater than or equal to the floating threshold, it means that the curve has a relatively large degree of dispersion and needs to be flattened. The to-be-flattened curve converges based on the acceleration extreme value until the root mean square of the processed curve is less than the floating threshold, that is, the curve processed by the curve convergence algorithm is still greater than or equal to the above floating threshold, and the curve can be converged again. The algorithm performs quadratic or multiple processing until the root mean square of the processed curve is less than the floating threshold, and the processed curve corresponding to less than the floating threshold is identified as a quadratic correction curve, that is, the flattening process is completed.

It should be noted that, the above-mentioned convergence algorithm may be any convergence algorithm that realizes that the curve approaches a straight line, and the convergence algorithm is not limited here.

Further, as another embodiment of the present application, the above S1032 may specifically include:

In S1032.1, the median value between the actual acceleration corresponding to each speed point on the curve to be flattened and the acceleration extreme value is used as the correction acceleration of each speed point.

In S1032.2, a flattened curve is obtained based on the corrected accelerations of all the speed points.

In S1032.3, based on the acceleration extreme value, the root mean square of the flattened curve is calculated.

In S1033.4, if the root mean square of the flattened curve is greater than or equal to the floating threshold, return to performing the step of comparing the actual acceleration corresponding to each speed point on the curve to be flattened with the The median value between the extreme acceleration values is used as the corrected acceleration for each of the speed points until the root mean square of the flattened curve is smaller than the floating threshold value.

In this embodiment, the electronic device specifically adopts the bisection method to straighten the curve to be flattened. Among them, the electronic device will calculate the median value between the actual acceleration corresponding to each coordinate point and the acceleration extreme value, and use the median value as the correction acceleration corresponding to the coordinate point, and based on the correction acceleration corresponding to all coordinate points, reconstruct the The curve corresponding to the vehicle speed control operation, that is, the curve after the flattening process, and the root mean square of the flattened curve is calculated again according to the acceleration extreme value, and it is judged whether the discrete program after the flattening process is the symbol expected (ie. Whether the root mean square is less than the floating threshold), if so, identify the curve after this flattening process as a quadratic calibration curve; otherwise, if the curve after this flattening process is still greater than or equal to the floating threshold, continue to pass the above process until the root mean square of the flattened curve is less than the floating threshold.

In the embodiment of the present application, the flattening curve is processed by the bisection method. Since the dichotomy method has a fast convergence speed, it can quickly converge to an arbitrarily small threshold value, which improves the efficiency of the flattening processing.

In S1033, if the root mean square is smaller than the floating threshold, the curve to be flattened is identified as the quadratic correction curve.

In this embodiment, if the root mean square is smaller than the floating threshold, it means that the curve to be flattened is relatively flat, and no adjustment is required, and it can be directly identified as a quadratic calibration curve.

Exemplarily, FIG. 8 shows a schematic diagram of the curve flattening process provided by an embodiment of the present application. Referring to (a) in Figure 8, the flattened curve has a large sudden change at the position where the speed is small and the speed is large, the curve has obvious fluctuations, and the degree of dispersion is large. After the flattening process, it can be obtained. The quadratic calibration curve with a smaller discrete program is shown in (b) in Figure 8.

In the embodiment of the present application, by determining the acceleration threshold and calculating the root mean square of the curve to be flattened based on the acceleration threshold, the degree of dispersion of the curve to be flattened can be determined, and the curve can be adjusted accordingly, thereby reducing the degree of dispersion of the curve , to stabilize the acceleration of the same vehicle speed control operation at different speeds.

FIG. 9 shows a specific implementation flowchart of a method S104 for generating a calibration table provided by the fourth embodiment of the present invention. Referring to FIG. 9 , with respect to any of the embodiments described in FIGS. 1 to 7 , a method S104 for generating a calibration table provided in this embodiment includes: S1041 to S1043 , which are described in detail as follows:

In S1041, redundant curves are identified according to the degree of deviation between each of the quadratic calibration curves.

In this embodiment, in order to reduce unnecessary calibration curves, the electronic device can filter the redundant curves in the calibration table, and the electronic device can separately calculate the deviation between the quadratic calibration curves. The smaller the deviation, the closer the two curves are, and one can be deleted, that is, one of the curves is used as a redundant curve.

In a possible implementation manner, each quadratic correction curve is arranged according to the monotonic relationship between the vehicle speed control operations, and the deviations between two adjacent quadratic correction curves are compared sequentially from top to bottom Whether it is greater than the preset deviation threshold, if it is greater than the deviation threshold, it is recognized that the above two quadratic calibration curves are valid curves; otherwise, if it is less than or equal to the deviation threshold, one of the quadratic calibration curves is retained, and the other The calibration curve is identified as a redundant curve (such as the quadratic calibration curve located below by default), and so on, and the pairwise comparison is continued until all adjacent quadratic calibration curves are traversed and compared, and redundant curves are identified. The above deviation threshold can be determined according to the average value of the error between the maximum accelerator opening curve and the maximum brake opening curve at each speed point, or can be determined according to the average value of the error between other arbitrary curves at each speed point The value is determined, and the calculation method of the deviation threshold is not limited.

Further, as another embodiment of the present application, S1041 specifically includes:

In S1041.1, the first mean value of the acceleration deviation between the speed points of the first curve of the upper limit acceleration operation and the second curve of the lower limit deceleration operation at each speed point is taken as the limit deviation value of the target vehicle.

In S1041.2, calculate the second mean value of the acceleration deviation between any two quadratic correction curves at each speed point, and use the ratio between the second mean value and the limit deviation as the any two The degree of deviation of a quadratic calibration curve.

In S1041.3, if the degree of deviation is less than a preset deviation threshold, one of the two quadratic calibration curves is identified as the redundant curve.

In this embodiment, the electronic device may calculate the deviation threshold according to the acceleration deviation between the curves corresponding to the two limit operations. Specifically, the above-mentioned limit operations are the upper limit acceleration operation (that is, the operation corresponding to the maximum accelerator opening degree) and the lower limit deceleration operation (that is, the corresponding operation when the brake opening degree is the largest). The average value of the corresponding acceleration difference is used as the limit deviation of the target vehicle, and the limit deviation is used as the benchmark to calculate the deviation degree corresponding to other curves. If the deviation degree is greater than the preset deviation threshold, identify any two of the above All quadratic calibration curves are valid, that is, they are all valid curves; on the contrary, if the deviation between the above two quadratic calibration curves is less than the preset deviation threshold, it is recognized that the two curves are too dense, and one of the quadratic calibration curves is identified as being too dense. Identified as redundant curves.

In S1042, the redundant curve is removed from all the quadratic calibration curves to obtain a valid calibration curve.

In S1043, a calibration table of the target vehicle is generated based on all valid calibration curves and vehicle speed control operations corresponding to the valid calibration curves.

In this embodiment, the electronic device may remove redundant curves from all quadratic calibration curves, and generate a calibration table for the target vehicle based on the remaining valid calibration curves.

Exemplarily, FIG. 10 shows a schematic diagram of filtering a calibration curve provided by an embodiment of the present application. Referring to FIG. 10 , the dashed curve is the identified redundant curve. If the redundant curve is removed from the calibration table, the calibration table of the target vehicle is generated based on the remaining valid curves.

In the embodiment of the present application, by deleting the calibration curves with small differences, the redundancy degree of the calibration table can be reduced.

FIG. 11 shows a structural block diagram of an apparatus for generating a calibration table provided by an embodiment of the present invention. The units included in the apparatus for generating a calibration table are used to execute the steps implemented by the encryption apparatus in the embodiment corresponding to FIG. 1 . For details, please refer to the relevant descriptions in FIG. 1 and the embodiment corresponding to FIG. 1 . For convenience of explanation, only the parts related to this embodiment are shown.

Referring to Figure 11, the method and device for generating the calibration table include:

The motion data collection unit 111 is configured to generate a curve to be calibrated corresponding to each of the speed control operations according to the collected motion data about the target vehicle under different speed control operations; the curve to be calibrated is used to represent the target vehicle the corresponding relationship between speed and acceleration under the vehicle speed control operation;

A primary correction unit 112, configured to adjust the curve segment where the curve intersection is located in the any two curves to be calibrated according to the curve intersection if there is a curve intersection between any two curves to be calibrated, to obtain a primary calibration curve;

The secondary correction unit 113 is configured to perform flattening processing on the curves to be flattened corresponding to each of the vehicle speed control operations to obtain a secondary correction curve; the curve to be flattened is the primary correction curve or the curve to be calibrated ;

The calibration table generating unit 114 is configured to generate a calibration table of the target vehicle based on the quadratic correction curve.

Optionally, the primary correction unit 112 includes:

The curve segment identification unit is used for, if there is a curve intersection between any two curves to be calibrated, according to the monotonic relationship between the vehicle speed control operations corresponding to any two intersection curves, respectively, from the any two intersection curves. Identifying the curve segment that does not conform to the monotonic relationship; the cross curve is the to-be-calibrated curve or the Nth adjustment curve; the initial value of N is 0;

a curve segment adjustment unit, configured to increase the value of N, and based on the curve segment of any one of the any two intersecting curves, adjust the curve segment of the other curve of the any two intersecting curves to obtain the Nth adjust the curve;

an iterative completion unit, configured to identify the Nth adjustment curve as the primary correction curve if the curves corresponding to all the vehicle speed control operations do not have the curve intersection point, and perform the said control operation for each vehicle speed The corresponding curve to be flattened is subjected to a straightening process to obtain an operation of a secondary correction curve; the curve corresponding to the vehicle speed control operation is the curve to be calibrated or the Nth adjustment curve;

A loop iteration unit, configured to return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersection curves if there is the curve intersection point between any two curves corresponding to the vehicle speed control operations, respectively The segment of the curve that does not conform to the monotonic relationship is identified from the any two intersecting curves.

Optionally, the iteration completion unit includes:

a cycle upper limit value comparison unit, configured to judge whether the value of N is greater than a preset cycle upper limit value if there is the curve intersection point between any two curves corresponding to the vehicle speed control operations;

A cycle stop unit, configured to adjust the curve segments in the any two intersecting curves based on a preset adjustment threshold and the monotonic relationship if the value of N is greater than a preset cycle upper limit value , get a calibration curve;

A cycle continuation unit, configured to return and execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersection curves if the value of N is less than or equal to the upper limit value of the cycle, respectively from the The curve segment that does not satisfy the monotonic relationship is identified from any two intersecting curves.

Optionally, the secondary correction unit 113 includes:

a root mean square calculation unit, configured to calculate the root mean square of the curve to be straightened according to the acceleration extreme value in the curve to be straightened; the extreme value of acceleration is the same as the speed regulation direction of the vehicle speed control operation;

a convergence triggering unit, configured to process the to-be-flattened curve through a preset curve convergence algorithm if the root mean square is greater than or equal to a preset floating threshold, until the root mean square of the processed curve is less than the preset floating threshold The floating threshold is obtained to obtain the quadratic calibration curve;

A curve flattening response unit, configured to identify the curve to be flattened as the quadratic correction curve if the root mean square is less than the floating threshold.

Optionally, the convergence triggering unit includes:

a median value calculation unit, used for taking the median value between the actual acceleration corresponding to each speed point on the curve to be flattened and the acceleration extreme value as the correction acceleration of each of the speed points;

a median replacement unit for obtaining a straightened curve based on the corrected accelerations of all the speed points;

a quadratic mean square calculation unit, configured to calculate the root mean square of the flattened curve based on the acceleration extreme value;

A loop convergence unit, configured to return to performing the step of comparing the actual acceleration corresponding to each speed point on the curve to be flattened with the The median value between the extreme acceleration values is used as the corrected acceleration for each of the speed points until the root mean square of the flattened curve is smaller than the floating threshold value.

Optionally, the calibration table generating unit 114 includes:

a redundant curve identification unit, used for identifying redundant curves according to the degree of deviation between each of the quadratic calibration curves;

a redundant curve removing unit, configured to remove the redundant curves from all the quadratic calibration curves to obtain an effective calibration curve;

A valid curve packaging unit, configured to generate a calibration table of the target vehicle based on all valid calibration curves and vehicle speed control operations corresponding to the valid calibration curves.

Optionally, the redundant curve identification unit includes:

a first mean value calculation unit, configured to use the first mean value of the acceleration deviation between each speed point between the first curve of the upper limit acceleration operation and the second curve of the lower limit deceleration operation as the limit deviation value of the target vehicle;

The second mean value calculation unit is configured to calculate the second mean value of the acceleration deviations between any two quadratic correction curves at various speed points, and use the ratio between the second mean value and the limit deviation as the the degree of deviation of any two quadratic calibration curves;

A deviation degree comparison unit, configured to identify one of the any two quadratic calibration curves as the redundant curve if the deviation degree is smaller than a preset deviation threshold.

Therefore, the device for generating a calibration table provided by the embodiment of the present invention can also generate the to-be-calibrated curves corresponding to different speed control operations by acquiring motion data corresponding to the target vehicle under different speed control operations. The accelerations between the vehicle speed control operations conform to the monotonic relationship between each other, that is, the curves do not cross. Therefore, the electronic device can adjust the curve to be calibrated with the intersection of the curves to obtain a correction curve, and then pass the preset The straightening processing algorithm of the straightening processing algorithm is used to straighten the curve to process the curve segment with sudden acceleration, so that the corresponding acceleration of the vehicle speed control operation at different speeds tends to be stable, and then generate the target vehicle according to all the quadratic correction curves. The calibration table realizes the purpose of automatic generation of the calibration table. Compared with the generation technology of the existing calibration table, the calibration table in the embodiment of the present application can be automatically generated, and the parts in the calibration table where the acceleration has a monotonic abnormality in each curve to be calibrated is adjusted, and the curve is straightened, In order to realize the correction of the curve, while improving the generation efficiency of each calibration curve in the calibration table, the accuracy of the calibration curve can also be improved.

It should be understood that, in the structural block diagram of the method and apparatus for generating the calibration table shown in FIG. 11 , each module is used to execute each step in the embodiment corresponding to FIG. 1 to FIG. 10 , and for the implementation corresponding to FIG. 1 to FIG. The steps in the examples have been explained in detail in the above-mentioned embodiments. For details, please refer to FIG. 1 to FIG. 10 and the relevant descriptions in the corresponding embodiments of FIG. 1 to FIG. 10 , which will not be repeated here.

FIG. 12 is a structural block diagram of an electronic device provided by another embodiment of the present application. As shown in FIG. 12 , the electronic device 1200 of this embodiment includes: a processor 1210 , a memory 1220 , and a computer program 1230 stored in the memory 1220 and executable on the processor 1210 , such as a program of a method for generating a calibration table. When the processor 1210 executes the computer program 1230, the steps in each of the foregoing embodiments of the methods for generating calibration tables are implemented, for example, S101 to S104 shown in FIG. 1 . Alternatively, when the processor 1210 executes the computer program 1230, the functions of the modules in the embodiment corresponding to FIG. 7 are implemented, for example, the functions of the units 111 to 114 shown in FIG. describe.

Illustratively, the computer program 1230 may be divided into one or more modules, and the one or more modules are stored in the memory 1220 and executed by the processor 1210 to complete the present application. One or more modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 1230 in the electronic device 1200 . For example, the computer program 1230 can be divided into various unit modules, and the specific functions of each module are as above.

The electronic device 1200 may include, but is not limited to, a processor 1210 and a memory 1220 . Those skilled in the art can understand that FIG. 12 is only an example of the electronic device 1200, and does not constitute a limitation to the electronic device 1200, and may include more or less components than the one shown, or combine some components, or different components For example, the electronic device may also include an input and output device, a network access device, a bus, and the like.

The so-called processor 1210 may be a central processing unit, and may also be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or any conventional processor or the like.

The memory 1220 may be an internal storage unit of the electronic device 1200 , such as a hard disk or a memory of the electronic device 1200 . The memory 1220 may also be an external storage device of the electronic device 1200 , such as a plug-in hard disk, a smart memory card, a flash memory card, etc., which are equipped on the electronic device 1200 . Further, the memory 1220 may also include both an internal storage unit of the electronic device 1200 and an external storage device.

The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The recorded technical solutions are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the application, and should be included in the application. within the scope of protection.

Claims (10)

1. a generation method of calibration table, is characterized in that, comprises: According to the collected motion data about the target vehicle under different vehicle speed control operations, a to-be-calibrated curve corresponding to each of the vehicle speed control operations is generated; the to-be-calibrated curve is used to represent the speed of the target vehicle under the vehicle speed control operation Corresponding relationship with acceleration; If there is a curve intersection point between any two curves to be calibrated, adjust the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point to obtain a primary calibration curve; performing straightening processing on the curves to be straightened corresponding to each of the vehicle speed control operations to obtain a secondary correction curve; the curve to be straightened is the primary correction curve or the curve to be calibrated; Based on the quadratic correction curve, a calibration table for the target vehicle is generated. 2 . The generating method according to claim 1 , wherein, if there is a curve intersection point between any two curves to be calibrated, the curve in the any two curves to be calibrated is adjusted according to the curve intersection point. 3 . The curve segment where the intersection point is located, and a primary calibration curve is obtained, including: If there is a curve intersection point between any two curves to be calibrated, then according to the monotonic relationship between the vehicle speed control operations corresponding to any two intersection curves, it is identified from the any two intersection curves that do not conform to the monotonicity. the curve segment of the relationship; the cross curve is the to-be-calibrated curve or the Nth adjustment curve; the initial value of N is 0; increasing the value of N, and based on the curve segment of any one of the any two intersecting curves, adjusting the curve segment of the other curve of the any two intersecting curves to obtain the Nth adjustment curve; If the curves corresponding to all the vehicle speed control operations do not have the curve intersection point, the Nth adjustment curve is identified as the primary correction curve, and the curve to be leveled corresponding to each of the vehicle speed control operations is executed. An operation of performing a straightening process to obtain a quadratic correction curve; the curve corresponding to the vehicle speed control operation is the curve to be calibrated or the Nth adjustment curve; If there is the curve intersection point between the curves corresponding to any two of the vehicle speed control operations, return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersecting curves, respectively, from the any two The segment of the curve that does not conform to the monotonic relationship is identified in the intersecting curve. 3 . The generating method according to claim 2 , wherein, if there is the curve intersection point between any two curves corresponding to the vehicle speed control operations, then return to execute the corresponding curve according to any two intersection curves. 4 . The monotonic relationship between the vehicle speed control operations, respectively identifying the curve segments that do not conform to the monotonic relationship from the any two intersecting curves, including: If there is the curve intersection point between the curves corresponding to any two vehicle speed control operations, determine whether the value of N is greater than the preset upper limit of the cycle; If the value of N is greater than the upper limit of the cycle, then based on the preset adjustment threshold and the monotonic relationship, the curve segments in the any two cross curves are adjusted to obtain a primary correction curve; If the value of N is less than or equal to the upper limit of the cycle, return to execute the monotonic relationship between the vehicle speed control operations corresponding to any two intersection curves, respectively from the any two intersection curves. The segment of the curve that does not meet the monotonic relationship is identified. 4. The generation method according to claim 1, wherein the straightening process is performed on the to-be-flattened curve corresponding to each of the vehicle speed control operations to obtain a quadratic correction curve, comprising: According to the acceleration extreme value in the to-be-flattened curve, calculate the root mean square of the to-be-flattened curve; the acceleration extreme value is the same as the vehicle speed control direction of the vehicle speed control operation; If the root mean square is greater than or equal to a preset floating threshold, the curve to be flattened is processed by a preset curve convergence algorithm until the root mean square of the processed curve is less than the floating threshold, and the obtained the quadratic calibration curve; If the root mean square is less than the floating threshold, the curve to be flattened is identified as the quadratic correction curve. 5 . The generating method according to claim 4 , wherein if the root mean square is greater than or equal to a preset floating threshold, the curve to be flattened is processed by a preset curve convergence algorithm. 6 . , until the root mean square of the processed curve is less than the floating threshold, and the quadratic correction curve is obtained, including: Taking the median value between the actual acceleration corresponding to each speed point on the curve to be flattened and the acceleration extreme value as the correction acceleration of each speed point; obtaining a flattened curve based on the corrected accelerations of all the speed points; based on the acceleration extreme value, calculating the root mean square of the flattened curve; If the root mean square of the flattened curve is greater than or equal to the floating threshold value, return to execute the process of comparing the actual acceleration corresponding to each speed point on the curve to be flattened and the acceleration extreme value. The median value is used as the corrected acceleration for each of the speed points until the root mean square of the flattened curve is less than the floating threshold. 6. The generating method according to any one of claims 1-5, wherein the generating a calibration table of the target vehicle based on the quadratic correction curve comprises: Identifying redundant curves according to the degree of deviation between each of the secondary calibration curves; Remove the redundant curves from all the quadratic calibration curves to obtain a valid calibration curve; A calibration table of the target vehicle is generated based on all valid calibration curves and vehicle speed control operations corresponding to the valid calibration curves. 7. The generating method according to any one of claims 6, wherein the identifying redundant curves according to the degree of deviation between each of the quadratic calibration curves, comprising: taking the first mean value of the acceleration deviation between each speed point between the first curve of the upper limit acceleration operation and the second curve of the lower limit deceleration operation as the limit deviation value of the target vehicle; Calculate the second mean value of the acceleration deviations between any two quadratic calibration curves at each speed point, and use the ratio between the second mean value and the limit deviation as the difference between the any two quadratic calibration curves. the degree of deviation; If the degree of deviation is smaller than a preset deviation threshold, then one of the two quadratic calibration curves is identified as the redundant curve. 8. A device for generating a calibration table, characterized in that, comprising: A motion data acquisition unit, configured to generate a curve to be calibrated corresponding to each of the vehicle speed control operations according to the collected motion data about the target vehicle under different speed control operations; the to-be-calibrated curve is used to indicate that the target vehicle is in the corresponding relationship between the speed and the acceleration under the vehicle speed control operation; a primary correction unit, configured to adjust the curve segment where the curve intersection point is located in the any two curves to be calibrated according to the curve intersection point, to obtain a primary correction curve; a secondary correction unit, configured to perform flattening processing on the curves to be flattened corresponding to each of the vehicle speed control operations to obtain a secondary correction curve; the curve to be flattened is the primary correction curve or the curve to be calibrated; A calibration table generating unit, configured to generate a calibration table of the target vehicle based on the quadratic correction curve. 9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the computer program as claimed in the claims The method of any one of 1 to 7. 10 . A computer-readable storage medium storing a computer program, wherein, when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented. 11 .

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