CN115214694A

CN115214694A - Camera calibration trigger control method, vehicle-mounted controller and intelligent driving system

Info

Publication number: CN115214694A
Application number: CN202111070851.XA
Authority: CN
Inventors: 蔡璐珑; 何俏君; 郑志晓; 祁玉晓; 李梓龙
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2022-10-21
Anticipated expiration: 2041-09-13
Also published as: CN115214694B

Abstract

The invention discloses a camera calibration trigger control method, a vehicle-mounted controller and an intelligent driving system. The method comprises the following steps: acquiring first driving condition data corresponding to the first driving control state; judging whether the first driving condition data meet a first calibration trigger condition or not, and acquiring a first trigger judgment result; if the first trigger judgment result is that the first calibration trigger condition is met, when the vehicle is monitored to enter a second driving control state, second driving working condition data corresponding to the second driving control state are obtained; judging whether the second driving condition data meet a second calibration trigger condition or not, and acquiring a second trigger judgment result; and if the second trigger judgment result is that the second calibration trigger condition is met, controlling the camera to execute automatic calibration operation. According to the method, when the calibration parameters of the camera are abnormal according to the driving condition data of the two driving control states, the calibration parameters of the camera are updated in time, and the control precision, stability and safety of the intelligent driving system are guaranteed.

Description

Camera calibration trigger control method, vehicle-mounted controller and intelligent driving system

Technical Field

The invention relates to the technical field of intelligent driving, in particular to a camera calibration trigger control method, a vehicle-mounted controller and an intelligent driving system.

Background

Along with the requirements of people on the safety and the comfort of the automobile are higher and higher, more and more driving sensors are applied to the automobile so as to meet the intelligent driving requirement. The camera has higher performance and lower cost, so that the camera is widely applied to the field of intelligent driving, and because the camera can only provide two-dimensional information based on images, the two-dimensional information needs to be restored into three-dimensional information by utilizing a calibration means. Under the condition that the camera works for a long time or the actual driving environment is complex, the error between the calibration parameter and the actual driving environment is possibly large, and the control precision of the intelligent driving system is influenced.

Disclosure of Invention

The invention provides a camera calibration trigger control method, a vehicle-mounted controller and an intelligent driving system, and aims to solve the problem that the control precision of the existing intelligent driving system is influenced because the camera calibration cannot adapt to environmental changes.

The invention provides a camera calibration trigger control method, which comprises the following steps:

acquiring first driving working condition data corresponding to the first driving control state;

judging whether the first driving condition data meet a first calibration triggering condition or not, and acquiring a first triggering judgment result;

if the first trigger judgment result is that a first calibration trigger condition is met, acquiring second driving condition data corresponding to a second driving control state when the vehicle is monitored to enter the second driving control state;

judging whether the second driving condition data meet a second calibration trigger condition or not, and acquiring a second trigger judgment result;

and if the second trigger judgment result is that a second calibration trigger condition is met, controlling the camera to execute automatic calibration operation.

Preferably, the first driving control state and the second driving control state are one of a manual driving control state and an automatic driving control state, respectively;

the first driving condition data and the second driving condition data are respectively one of manual driving condition data and automatic driving condition data;

the judging step is to judge whether the first driving condition data meets a first calibration trigger condition, and obtain a first trigger judgment result, and the judging step is to judge whether the second driving condition data meets a second calibration trigger condition, and obtain a second trigger judgment result, which are respectively one of the first trigger judgment step and the second trigger judgment step:

the first triggering judgment step comprises the following steps: judging whether the manual driving condition data meet a manual calibration triggering condition or not, and acquiring a manual triggering judgment result;

the second triggering judgment step comprises the following steps: and judging whether the automatic driving working condition data meet an automatic calibration triggering condition or not, and acquiring an automatic triggering judgment result.

Preferably, the determining whether the automatic driving condition data meets an automatic calibration triggering condition to obtain an automatic triggering determination result includes:

judging whether the manual driving working condition data meet a manual working condition evaluation condition or not;

if the manual driving condition data meet the manual driving condition evaluation condition, acquiring manual driving characteristic data;

and acquiring a manual trigger judgment result according to the manual driving feature data and the manual driving feature threshold.

Preferably, the manual driving working condition data includes a vehicle speed per hour corresponding to the manual driving working condition, a road curvature radius corresponding to the manual driving working condition, and a steering wheel turning angle corresponding to the manual driving working condition;

the judging whether the manual driving working condition data meet the manual working condition evaluation condition or not comprises the following steps:

comparing the vehicle speed per hour corresponding to the manual driving working condition with a first vehicle speed threshold value, comparing the road curvature radius corresponding to the manual driving working condition with a first road curvature radius threshold value, and comparing the steering wheel corner corresponding to the manual driving working condition with a first steering wheel corner threshold value;

if the vehicle speed per hour corresponding to the manual driving working condition is greater than a first vehicle speed threshold value, the road curvature radius corresponding to the manual driving working condition is greater than a first road curvature radius threshold value, and the steering wheel corner corresponding to the manual driving working condition is smaller than a first steering wheel corner threshold value, determining that the manual driving working condition data meets the manual working condition evaluation condition;

and if the vehicle speed per hour corresponding to the manual driving working condition is not greater than a first vehicle speed threshold value, the road curvature radius corresponding to the manual driving working condition is not greater than a first road curvature radius threshold value, or the steering wheel corner corresponding to the manual driving working condition is not less than a first steering wheel corner threshold value, determining that the manual driving working condition data does not satisfy the manual working condition evaluation condition.

Preferably, the manual driving characteristic data comprises a yaw angle corresponding to a manual driving condition;

the acquiring a manual trigger judgment result according to the manual driving feature data and the manual driving feature threshold value comprises:

counting yaw angles corresponding to all manual driving conditions in a first time period to obtain a first yaw angle mean value;

and if the first yaw angle mean value is smaller than a first yaw angle threshold value and the absolute values of the yaw angles corresponding to all the manual driving working conditions are smaller than a first angle absolute value, acquiring a manual trigger judgment result meeting a manual calibration trigger condition.

judging whether the automatic driving working condition data meet automatic working condition evaluation conditions or not;

if the automatic driving condition data meet the automatic condition evaluation condition, acquiring automatic driving characteristic data;

and acquiring an automatic triggering judgment result according to the automatic driving characteristic data and the automatic driving characteristic threshold value.

Preferably, the automatic driving condition data includes a vehicle speed per hour corresponding to the automatic driving condition, a road curvature radius corresponding to the automatic driving condition, and a steering wheel rotation angle corresponding to the automatic driving condition;

the judging whether the automatic driving condition data meet the automatic condition evaluation condition comprises the following steps:

comparing the vehicle speed per hour corresponding to the automatic driving working condition with a second vehicle speed threshold value, comparing the road curvature radius corresponding to the automatic driving working condition with a second road curvature radius threshold value, and comparing the steering wheel corner corresponding to the automatic driving working condition with a second steering wheel corner threshold value;

if the vehicle speed per hour corresponding to the automatic driving working condition is greater than a second vehicle speed threshold value, the road curvature radius corresponding to the automatic driving working condition is greater than a second road curvature radius threshold value, and the steering wheel corner corresponding to the automatic driving working condition is smaller than a second steering wheel corner threshold value, the automatic driving working condition data is determined to meet the automatic working condition evaluation condition;

and if the vehicle speed per hour corresponding to the automatic driving working condition is not greater than a second vehicle speed threshold value, the road curvature radius corresponding to the automatic driving working condition is not greater than a second road curvature radius threshold value, or the steering wheel corner corresponding to the automatic driving working condition is not less than a second steering wheel corner threshold value, determining that the automatic driving working condition data does not satisfy the automatic working condition evaluation condition.

Preferably, the automatic driving characteristic data comprises a yaw angle corresponding to an automatic driving condition, a yaw rate corresponding to the automatic driving condition and a driving track deviation corresponding to the automatic driving condition;

the acquiring an automatic triggering judgment result according to the automatic driving feature data and the automatic driving feature threshold value comprises:

counting a yaw angle corresponding to the automatic driving working condition, a yaw velocity corresponding to the automatic driving working condition and a driving track deviation corresponding to the automatic driving working condition in a second time period, and acquiring a second yaw angle mean value, a second yaw angle variance, a yaw velocity mean value and a driving track deviation mean value;

comparing the second yaw angle mean value with a second yaw angle threshold value, and comparing the second yaw angle variance with a yaw angle variance threshold value to obtain a yaw angle judgment result;

comparing the average value of the yaw rate with a yaw rate threshold value to obtain a yaw rate judgment result;

comparing the running track deviation mean value with a running track deviation threshold value to obtain a track deviation judgment result;

and acquiring an automatic triggering judgment result according to the yaw angle judgment result, the yaw velocity judgment result and the track deviation judgment result.

The invention provides a vehicle-mounted controller which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the camera calibration trigger control method.

An intelligent driving system comprises the vehicle-mounted controller.

According to the camera calibration trigger control method, the vehicle-mounted controller and the intelligent driving system, the camera is controlled to execute automatic calibration operation only when the first driving working condition data corresponding to the first driving control state meets the first calibration trigger condition and the second driving working condition data corresponding to the second driving control state meets the second calibration trigger condition, so that the calibration parameters of the camera can be timely updated when the calibration parameters of the camera are abnormal according to the driving working condition data of the two driving control states, the control precision of the intelligent driving system is further ensured, and the stability and the safety of the intelligent driving function are ensured; and the driving intelligent system can adapt to more driving conditions, and the application range and time of the intelligent driving function are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

Fig. 1 is a flowchart of a camera calibration trigger control method according to an embodiment of the present invention;

fig. 2 is another flowchart of a camera calibration trigger control method according to an embodiment of the present invention;

fig. 3 is another flowchart of a camera calibration trigger control method according to an embodiment of the present invention;

fig. 4 is another flowchart of a camera calibration trigger control method according to an embodiment of the present invention;

fig. 5 is another flowchart of a camera calibration trigger control method according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

The embodiment of the invention provides a camera calibration trigger control method which can be applied to an intelligent driving system, in particular to a vehicle-mounted controller of the intelligent driving system, so that the camera calibration can adapt to the change of an actual driving environment, and the control precision of the intelligent driving system is ensured.

In an embodiment, as shown in fig. 1, a camera calibration trigger control method is provided, which is described by taking an application of the method to a vehicle-mounted controller as an example, and includes the following steps:

s101: acquiring first driving condition data corresponding to the first driving control state;

s102: judging whether the first driving condition data meet a first calibration triggering condition or not, and acquiring a first triggering judgment result;

s103: if the first trigger judgment result is that the first calibration trigger condition is met, when the vehicle is monitored to enter a second driving control state, second driving working condition data corresponding to the second driving control state are obtained;

s104: judging whether the second driving condition data meet a second calibration triggering condition or not, and obtaining a second triggering judgment result;

s105: and if the second trigger judgment result is that the second calibration trigger condition is met, controlling the camera to execute automatic calibration operation.

Wherein the first driving control state and the second driving control state refer to two driving control states of the vehicle. In this example, if the first driving control state is the manual driving control state, the second driving control state is the automatic driving control state; if the first driving control state is the automatic driving control state, the second driving control state is the manual driving control state.

As an example, in step S101, the vehicle-mounted controller determines the driving control state of the system at the current time as a first driving control state, and acquires first driving condition data in the first driving control state. The first driving condition data refers to the condition data collected when the vehicle is in the first driving control state, and includes but is not limited to the first vehicle speed per hour, the first road curvature radius, the first steering wheel angle and the like. The first vehicle speed per hour is the vehicle speed per hour acquired when the vehicle is in the first driving control state. The first road curvature radius refers to a road curvature radius acquired by a vehicle in a first driving control state. The first steering wheel angle is a steering wheel angle collected when the vehicle is in the first driving control state.

In this example, in order to ensure the control accuracy of the intelligent driving system, after determining the first driving control state, the vehicle-mounted controller needs to determine a current lane where the vehicle is located at the current time of the system, and when the current lane is a straight lane, first driving condition data such as the speed per hour of the first vehicle, the curvature radius of the first road, and the turning angle of the first steering wheel are acquired and obtained.

As an example, in step S102, after acquiring the first driving condition data in the first driving control state, the vehicle-mounted controller needs to execute a first trigger judgment program, judge whether the first driving condition data satisfies a corresponding first calibration trigger condition, and acquire a first trigger judgment result, where the first trigger judgment result includes that the first calibration trigger condition is satisfied and the first calibration trigger condition is not satisfied. The first triggering judgment program is a program which is configured in advance and is used for judging whether the first driving condition data meets the first calibration triggering condition. The first calibration triggering condition is used for evaluating whether a condition for triggering the camera to execute the automatic calibration operation is met or not in the first driving control state.

Generally, the first calibration triggering condition is a triggering condition which is tested for a plurality of times in advance to determine whether an error between the first standard working condition data of the camera and the first driving working condition data thereof in the first driving control state reaches a larger standard so as to evaluate whether recalibration is needed. The first standard operating condition data refers to driving operating condition data matched with the calibration parameters of the first driving control state.

As an example, in step S103, when the first trigger determination result is that the first driving condition data meets the first calibration trigger condition, the onboard controller may determine that an error between the first driving condition data and the first standard condition data corresponding to the first driving control state is relatively large, at this time, the onboard controller needs to monitor a current state of the vehicle, and when the current state of the vehicle is switched from the first driving control state to the second driving control state, acquire and obtain second driving condition data in the second driving control state. The current state of the vehicle here refers to the driving control state of the vehicle at the current moment of the system, and generally, the current state of the vehicle is switched from the first driving control state to the second driving control state by the operation of the driver. The second driving condition data refers to the condition data acquired when the vehicle is in the second driving control state, and includes, but is not limited to, a second vehicle speed per hour, a second road curvature radius, a second steering wheel angle and the like. The second vehicle speed per hour is the vehicle speed per hour acquired when the vehicle is in the second driving control state. The second road curvature radius is a road curvature radius acquired when the vehicle is in the second driving control state. The second steering wheel angle is a steering wheel angle collected when the vehicle is in the second driving control state.

In this example, in order to ensure the control accuracy of the intelligent driving system, after determining the second driving control state, the vehicle-mounted controller needs to determine a current lane where the vehicle is located at the current time of the system, and when the current lane is a straight lane, second driving condition data such as a second vehicle speed per hour, a second road curvature radius, a second steering wheel rotation angle and the like are acquired and obtained.

As an example, in step S104, after acquiring the second driving condition data in the second driving control state, the vehicle-mounted controller needs to execute a second trigger determining program, determine whether the second driving condition data satisfies a corresponding second calibration trigger condition, and acquire a second trigger determining result, where the second trigger determining result includes that the second calibration trigger condition is satisfied and the second calibration trigger condition is not satisfied. The second trigger judgment program is a program which is configured in advance and is used for judging whether the second driving condition data meet the second calibration trigger condition. The second calibration triggering condition is used for evaluating whether a condition for triggering the camera to execute the automatic calibration operation is met or not in the second driving control state.

Generally, the second calibration triggering condition is a triggering condition which is tested for a plurality of times in advance to determine whether an error between the second standard working condition data of the camera and the second driving working condition data thereof in the second driving control state reaches a larger standard so as to evaluate whether recalibration is needed. The second standard operating condition data refers to driving operating condition data matched with the calibration parameters in the second driving control state.

As an example, in step S105, when the second trigger determination result is that the second driving condition data meets the second calibration trigger condition, the vehicle-mounted controller may determine that an error between the second driving condition data and the second standard condition data corresponding to the second driving condition data is relatively large, and at this time, the vehicle-mounted controller may control the camera to perform an automatic calibration operation, so as to update the calibration parameter of the camera, thereby ensuring the control accuracy of the intelligent driving system.

According to the camera calibration trigger control method provided by the embodiment, the camera is controlled to execute automatic calibration operation only when the first driving working condition data corresponding to the first driving control state meets the first calibration trigger condition and the second driving working condition data corresponding to the second driving control state meets the second calibration trigger condition, so that the calibration parameters of the camera can be updated in time when the calibration parameters of the camera are abnormal according to the driving working condition data of the two driving control states, the control precision of an intelligent driving system is further ensured, and the stability and the safety of an intelligent driving function are ensured; and the driving intelligent system can adapt to more driving conditions, and the application range and time of the intelligent driving function are improved.

In an embodiment, the first driving control state and the second driving control state are one of a manual driving control state and an automatic driving control state, respectively;

the method comprises the steps of judging whether first driving condition data meet a first calibration trigger condition or not, obtaining a first trigger judgment result, judging whether second driving condition data meet a second calibration trigger condition or not, obtaining a second trigger judgment result, and respectively being one of a first trigger judgment step and a second trigger judgment step:

the second triggering judgment step comprises the following steps: and judging whether the automatic driving condition data meets an automatic calibration triggering condition or not, and acquiring an automatic triggering judgment result.

As an example, when the first driving control state is a manual driving control state, the first driving condition data is manual driving condition data, the second driving control state is an automatic driving control state, and the second driving condition data is automatic driving condition data. At this time, in step S102, the determining whether the first driving condition data meets the first calibration trigger condition is performed, and a first trigger determination result is obtained, specifically, the determining whether the manual driving condition data meets the manual calibration trigger condition is performed, and a manual trigger determination result is obtained; correspondingly, in step S104, the determining whether the second driving condition data meets the second calibration trigger condition obtains a second trigger determination result, specifically, the determining whether the automatic driving condition data meets the automatic calibration trigger condition obtains an automatic trigger determination result.

As shown in fig. 2, when the first driving control state is the manual driving control state, the first driving condition data is the manual driving condition data, the second driving control state is the automatic driving control state, and the second driving condition data is the automatic driving condition data, the camera calibration trigger control method includes the following steps:

s201: acquiring manual driving condition data corresponding to a manual driving control state;

s202: judging whether the manual driving working condition data meet a manual calibration triggering condition or not, and acquiring a manual triggering judgment result;

s203: if the manual trigger judgment result is that the manual calibration trigger condition is met, acquiring automatic driving working condition data corresponding to the automatic driving control state when the vehicle is monitored to enter the automatic driving control state;

s204: judging whether the automatic driving condition data meet an automatic calibration triggering condition or not, and acquiring an automatic triggering judgment result;

s205: and if the automatic triggering judgment result is that the automatic calibration triggering condition is met, controlling the camera to execute automatic calibration operation.

As an example, in step S201, the vehicle-mounted controller determines the driving control state of the system at the current time as a manual driving control state, and then acquires and acquires manual driving condition data in the manual driving control state. The manual driving condition data refers to the condition data acquired when the vehicle is in a manual driving control state, and includes, but is not limited to, vehicle speed per hour corresponding to the manual driving condition, road curvature radius corresponding to the manual driving condition, steering wheel rotation angle corresponding to the manual driving condition, and the like. The vehicle speed per hour corresponding to the manual driving working condition refers to the vehicle speed per hour acquired when the vehicle is in a manual driving control state. The road curvature radius corresponding to the manual driving working condition refers to the road curvature radius acquired when the vehicle is in a manual driving control state. The steering wheel rotation angle corresponding to the manual driving working condition refers to the steering wheel rotation angle acquired when the vehicle is in a manual driving control state.

In this example, in order to ensure the control accuracy of the intelligent driving system, after determining the manual driving control state, the vehicle-mounted controller needs to determine a current lane where the vehicle is located at the current time of the system, and when the current lane is a straight lane, the vehicle-mounted controller acquires and acquires manual driving condition data such as a vehicle speed per hour corresponding to the manual driving condition, a road curvature radius corresponding to the manual driving condition, and a steering wheel corner corresponding to the manual driving condition.

As an example, in step S202, after acquiring the manual driving condition data in the manual driving control state, the vehicle-mounted controller needs to execute a manual trigger determination program, determine whether the manual driving condition data satisfies a corresponding manual calibration trigger condition, and acquire a manual trigger determination result, where the manual trigger determination result includes that the manual calibration trigger condition is satisfied and the manual calibration trigger condition is not satisfied. The manual trigger judgment program is a program which is configured in advance and used for judging whether the manual driving condition data meet the manual calibration trigger condition. The manual calibration triggering condition is used for evaluating whether a condition for triggering the camera to execute automatic calibration operation is met in a manual driving control state.

Generally, the manual calibration triggering condition is a triggering condition which is tested for a plurality of times in advance to determine whether the error between the manual standard working condition data of the camera and the manual driving working condition data thereof in the manual driving control state reaches a larger standard so as to evaluate whether recalibration is needed. The manual standard working condition data refers to driving working condition data matched with the calibration parameters of the manual driving control state.

As an example, in step S203, when the manual trigger determination result is that the manual driving condition data satisfies the manual calibration trigger condition, the on-board controller may determine that an error between the manual driving condition data and the manual standard condition data corresponding to the manual driving control state is relatively large, at this time, the on-board controller needs to monitor the current state of the vehicle, and when the current state of the vehicle is switched from the manual driving control state to the automatic driving control state, the on-board controller acquires the automatic driving condition data in the automatic driving control state. The automatic driving condition data refers to the condition data acquired when the vehicle is in an automatic driving control state, and includes but is not limited to the vehicle speed per hour corresponding to the automatic driving condition, the road curvature radius corresponding to the automatic driving condition, the steering wheel turning angle corresponding to the automatic driving condition and the like. The vehicle speed per hour corresponding to the automatic driving working condition refers to the vehicle speed per hour acquired when the vehicle is in an automatic driving control state. The road curvature radius corresponding to the automatic driving condition refers to the road curvature radius acquired by the vehicle in the automatic driving control state. The steering wheel angle corresponding to the automatic driving working condition refers to the steering wheel angle acquired when the vehicle is in the automatic driving control state.

In this example, in order to ensure the control accuracy of the intelligent driving system, after determining the automatic driving control state, the vehicle-mounted controller needs to determine a current lane where the vehicle is located at the current time of the system, and when the current lane is a straight lane, the vehicle-mounted controller acquires and acquires automatic driving condition data such as a vehicle speed per hour corresponding to the automatic driving condition, a road curvature radius corresponding to the automatic driving condition, and a steering wheel corner corresponding to the automatic driving condition.

As an example, in step S204, after acquiring the automatic driving condition data in the automatic driving control state, the vehicle-mounted controller needs to execute an automatic triggering judgment program, judge whether the automatic driving condition data satisfies the corresponding automatic calibration triggering condition, and acquire an automatic triggering judgment result, where the automatic triggering judgment result includes that the automatic calibration triggering condition is satisfied and the automatic calibration triggering condition is not satisfied. The automatic triggering judgment program is a program which is configured in advance and is used for judging whether the automatic driving condition data meet the automatic calibration triggering condition. The automatic calibration triggering condition is used for evaluating whether the condition for triggering the camera to execute the automatic calibration operation is met or not in the automatic driving control state.

Generally, the automatic calibration triggering condition is a triggering condition which is tested for a plurality of times in advance to determine whether an error between the automatic standard working condition data of the camera and the automatic driving working condition data thereof reaches a larger standard in the automatic driving control state so as to evaluate whether recalibration is needed. The automatic standard working condition data refers to driving working condition data matched with the calibration parameters of the automatic driving control state.

As an example, in step S205, when the automatic driving condition data meets the automatic calibration triggering condition as a result of the automatic triggering determination, the vehicle-mounted controller may determine that an error between the automatic driving condition data and the automatic standard condition data corresponding to the manual driving control state is relatively large, and at this time, the vehicle-mounted controller may control the camera to perform the automatic calibration operation, so as to update the calibration parameter of the camera, thereby ensuring the control accuracy of the intelligent driving system.

According to the camera calibration trigger control method provided by the embodiment, the camera is controlled to execute automatic calibration operation only when the manual driving working condition data corresponding to the manual driving control state meets the manual calibration trigger condition and the automatic driving working condition data corresponding to the automatic driving control state meets the automatic calibration trigger condition, so that the calibration parameters of the camera can be timely updated when the calibration parameters of the camera are abnormal according to the manual driving working condition data and the automatic driving working condition data, the control precision of an intelligent driving system is further ensured, and the stability and the safety of an intelligent driving function are ensured; and the driving intelligent system can adapt to more driving conditions, and the application range and time of the intelligent driving function are improved.

As an example, when the first driving control state is an automatic driving control state, the first driving condition data is automatic driving condition data, the second driving control state is a manual driving control state, and the second driving condition data is manual driving condition data. At this time, in step S102, it is determined whether the first driving condition data meets a first calibration trigger condition, and a first trigger determination result is obtained, which specifically includes: and judging whether the automatic driving condition data meets an automatic calibration triggering condition or not, and acquiring an automatic triggering judgment result. Correspondingly, in step S104, the step of determining whether the second driving condition data meets a second calibration trigger condition to obtain a second trigger determination result specifically includes: and judging whether the manual driving condition data meets a manual calibration triggering condition or not, and acquiring a manual triggering judgment result.

In this example, as shown in fig. 3, when the first driving control state is an automatic driving control state, the first driving condition data is an automatic driving condition data, the second driving control state is a manual driving control state, and the second driving condition data is a manual driving condition data, the camera calibration trigger control method includes the following steps:

s301: acquiring automatic driving working condition data corresponding to an automatic driving control state;

s302: judging whether the automatic driving condition data meet an automatic calibration triggering condition or not, and acquiring an automatic triggering judgment result;

s303: if the automatic triggering judgment result is that the automatic calibration triggering condition is met, acquiring manual driving working condition data corresponding to the manual driving control state when the vehicle is monitored to enter the manual driving control state;

s304: judging whether the manual driving condition data meet a manual calibration triggering condition or not, and acquiring a manual triggering judgment result;

s305: and if the manual trigger judgment result is that the manual calibration trigger condition is met, controlling the camera to execute automatic calibration operation.

As an example, in step S301, the vehicle-mounted controller determines the driving control state of the system at the current time as the automatic driving control state, and then acquires and acquires the automatic driving condition data in the automatic driving control state. The automatic driving working condition data refers to working condition data acquired when the vehicle is in an automatic driving control state, and includes but is not limited to vehicle speed per hour corresponding to the automatic driving working condition, road curvature radius corresponding to the automatic driving working condition, steering wheel turning angle corresponding to the automatic driving working condition and the like. The vehicle speed per hour corresponding to the automatic driving working condition refers to the vehicle speed per hour acquired when the vehicle is in an automatic driving control state. The road curvature radius corresponding to the automatic driving working condition refers to the road curvature radius acquired when the vehicle is in the automatic driving control state. The steering wheel angle corresponding to the automatic driving working condition refers to the steering wheel angle acquired when the vehicle is in the automatic driving control state.

As an example, in step S302, after acquiring the automatic driving condition data in the automatic driving control state, the vehicle-mounted controller needs to execute an automatic triggering determination program, determine whether the automatic driving condition data satisfies the corresponding automatic calibration triggering condition, and acquire an automatic triggering determination result, where the automatic triggering determination result includes that the automatic calibration triggering condition is satisfied and the automatic calibration triggering condition is not satisfied. The automatic triggering judgment program is a program which is configured in advance and is used for judging whether the automatic driving condition data meet the automatic calibration triggering condition. The automatic calibration triggering condition is used for evaluating whether the condition for triggering the camera to execute the automatic calibration operation is met or not in the automatic driving control state.

As an example, in step S303, when the automatic trigger determination result indicates that the automatic driving condition data meets the automatic calibration trigger condition, the onboard controller may determine that an error between the automatic driving condition data and the automatic standard condition data corresponding to the automatic driving control state is relatively large, at this time, the onboard controller needs to monitor a current state of the vehicle, and acquire the manual driving condition data in the manual driving control state when the current state of the vehicle is switched from the automatic driving control state to the manual driving control state. The manual driving condition data refers to the condition data acquired when the vehicle is in a manual driving control state, and includes, but is not limited to, vehicle speed per hour corresponding to the manual driving condition, road curvature radius corresponding to the manual driving condition, steering wheel rotation angle corresponding to the manual driving condition, and the like. The vehicle speed per hour corresponding to the manual driving working condition refers to the vehicle speed per hour acquired when the vehicle is in a manual driving control state. The road curvature radius corresponding to the manual driving working condition refers to the road curvature radius acquired when the vehicle is in a manual driving control state. The steering wheel rotation angle corresponding to the manual driving working condition refers to the steering wheel rotation angle acquired when the vehicle is in a manual driving control state.

As an example, in step S304, after acquiring the manual driving condition data in the manual driving control state, the vehicle-mounted controller needs to execute a manual trigger determining program, determine whether the manual driving condition data satisfies the corresponding manual calibration trigger condition, and acquire a manual trigger determining result, where the manual trigger determining result includes that the manual calibration trigger condition is satisfied and that the manual calibration trigger condition is not satisfied. The manual trigger judgment program is a program which is configured in advance and used for judging whether the manual driving condition data meet the manual calibration trigger condition. The manual calibration triggering condition is used for evaluating whether the condition for triggering the camera to execute the automatic calibration operation is met or not in a manual driving control state.

Generally, the manual calibration triggering condition is a triggering condition which is tested for many times in advance to determine whether the error between the manual standard working condition data of the camera and the manual driving working condition data thereof in the manual driving control state reaches a larger standard so as to evaluate whether recalibration is needed. The manual standard working condition data refers to driving working condition data matched with the calibration parameters of the manual driving control state.

As an example, in step S305, when the manual trigger determination result is that the manual driving condition data satisfies the manual calibration trigger condition, the onboard controller may determine that an error between the manual driving condition data and the manual standard condition data corresponding to the automatic driving control state is relatively large, and at this time, the onboard controller may control the camera to perform the automatic calibration operation, so as to update the calibration parameter of the camera, thereby ensuring the control accuracy of the intelligent driving system.

According to the camera calibration trigger control method provided by the embodiment, only when the automatic driving working condition data corresponding to the automatic driving control state meets the automatic calibration trigger condition and the manual driving working condition data corresponding to the manual driving control state meets the manual calibration trigger condition, the camera is controlled to execute the automatic calibration operation, and the calibration parameters of the camera can be timely updated according to the automatic driving working condition data and the manual driving working condition data when the calibration parameters of the camera are abnormal, so that the control precision of an intelligent driving system is ensured, and the stability and the safety of an intelligent driving function are ensured; and the driving intelligent system can adapt to more driving conditions, and the application range and time of the intelligent driving function are improved.

In an embodiment, as shown in fig. 4, step S202 or step S304, namely, determining whether the manual driving condition data satisfies the manual calibration triggering condition, and acquiring a manual triggering determination result includes:

s401: judging whether the manual driving working condition data meet the manual working condition evaluation condition or not;

s402: if the manual driving condition data meet the manual driving condition evaluation condition, acquiring manual driving characteristic data;

s403: and acquiring a manual trigger judgment result according to the manual driving characteristic data and the manual driving characteristic threshold value.

The manual working condition evaluation condition is a pre-configured working condition evaluation condition for evaluating whether manual driving working condition data meet the need of recalibration. The manual driving feature data is feature data which is acquired in real time in a manual driving control state and is used for reflecting an actual driving environment.

As an example, in step S401, after acquiring the manual driving condition data under the manual driving control state, the vehicle-mounted controller compares the preconfigured manual driving condition evaluation condition with the manual driving condition data to determine whether the manual driving condition data acquired in real time meets the preconfigured manual driving condition evaluation condition.

In one embodiment, the manual driving condition data includes a vehicle speed per hour corresponding to the manual driving condition, a road curvature radius corresponding to the manual driving condition, and a steering wheel angle corresponding to the manual driving condition;

in step S401, determining whether the manual driving condition data satisfies the manual condition evaluation condition includes:

s4011: comparing the vehicle speed per hour corresponding to the manual driving working condition with a first vehicle speed threshold value, comparing the road curvature radius corresponding to the manual driving working condition with a first road curvature radius threshold value, and comparing the steering wheel corner corresponding to the manual driving working condition with a first steering wheel corner threshold value;

s4012: if the vehicle speed per hour corresponding to the manual driving working condition is greater than a first vehicle speed threshold value, the road curvature radius corresponding to the manual driving working condition is greater than a first road curvature radius threshold value, and the steering wheel corner corresponding to the manual driving working condition is smaller than a first steering wheel corner threshold value, determining that the manual driving working condition data meets the manual working condition evaluation condition;

s4013: and if the vehicle speed per hour corresponding to the manual driving working condition is not greater than the first vehicle speed threshold value, the road curvature radius corresponding to the manual driving working condition is not greater than the first road curvature radius threshold value, or the steering wheel corner corresponding to the manual driving working condition is not less than the first steering wheel corner threshold value, determining that the manual driving working condition data does not meet the manual working condition evaluation condition.

The first vehicle speed threshold is a speed threshold used for evaluating whether the vehicle speed per hour corresponding to the manual driving working condition meets the condition of needing to be calibrated again. The first road curvature radius threshold is a radius threshold used for evaluating whether the road curvature radius corresponding to the manual driving working condition meets the condition of needing to be calibrated again. The first steering wheel angle threshold is an angle threshold used to evaluate whether the steering wheel angle corresponding to the manual driving condition meets the condition that needs to be recalibrated.

As an example, the vehicle-mounted controller compares the vehicle speed per hour corresponding to the manual driving condition with a first vehicle speed threshold, compares the road curvature radius corresponding to the manual driving condition with a first road curvature radius threshold, and compares the steering wheel angle corresponding to the manual driving condition with a first steering wheel angle threshold; only when the vehicle speed per hour corresponding to the manual driving working condition is greater than the first vehicle speed threshold value, the road curvature radius corresponding to the manual driving working condition is greater than the first road curvature radius threshold value, and the steering wheel corner corresponding to the manual driving working condition is less than the first steering wheel corner threshold value, the error of the manual driving working condition data under the manual driving control state is determined to be large, the manual driving working condition data is determined to meet the manual working condition evaluation condition, and the subsequent step S402 is executed.

As an example, the vehicle-mounted controller compares the vehicle speed per hour corresponding to the manual driving condition with a first vehicle speed threshold, compares the road curvature radius corresponding to the manual driving condition with a first road curvature radius threshold, compares the steering wheel angle corresponding to the manual driving condition with a first steering wheel angle threshold, determines that an error of the manual driving condition data in the manual driving control state is small when the vehicle speed per hour corresponding to the manual driving condition is not greater than the first vehicle speed threshold, the road curvature radius corresponding to the manual driving condition is not greater than the first road curvature radius threshold, or the steering wheel angle corresponding to the manual driving condition is not less than the first steering wheel angle threshold, determines that the manual driving condition data does not satisfy the manual driving condition evaluation condition, does not execute the subsequent step S402, and continues to monitor and acquire the manual driving condition data corresponding to the manual driving condition.

The manual driving feature data is feature data reflecting an actual driving environment in the manual driving control state. The manual driving characteristic threshold is a threshold for evaluating whether the manual driving characteristic data satisfies a trigger recalibration condition.

As an example, in step S402, when the manual driving condition data meets the manual condition evaluation condition, the vehicle-mounted controller needs to acquire and acquire manual driving feature data formed by an actual driving environment in the manual driving control state, so as to ensure real-time performance and objectivity of acquiring the manual driving feature data.

As an example, in step S403, after acquiring the manual driving feature data, the vehicle-mounted controller needs to compare the manual driving feature data with a preset manual driving feature threshold, so as to acquire a manual trigger determination result according to a comparison result between the manual driving feature data and the manual driving feature threshold.

For example, the manual driving characteristic threshold may be a normal characteristic upper limit value and/or a normal characteristic lower limit value. When the manual driving characteristic data is between the lower limit value of the normal characteristic and the upper limit value of the normal characteristic, the manual driving characteristic data indicates that the vehicle runs in a manual driving control state, the error between the current calibration parameter of the camera and the actual driving environment is small, and the camera does not need to be calibrated again, so that the manual calibration triggering condition is determined not to be met. On the contrary, if the manual driving feature data is smaller than the lower limit value of the normal feature or the manual driving feature data is larger than the upper limit value of the normal feature, it is indicated that the manual driving feature data is that the vehicle runs in a manual driving control state, and the error between the current calibration parameter of the camera and the actual driving environment is large, and needs to be calibrated again, so that the manual calibration triggering condition is determined to be met.

In an embodiment, in step S403, the manual driving characteristic data includes a yaw angle corresponding to the manual driving condition;

acquiring a manual trigger judgment result according to the manual driving feature data and the manual driving feature threshold, wherein the manual trigger judgment result comprises the following steps:

s4031: counting yaw angles corresponding to all manual driving conditions in a first time period to obtain a first yaw angle mean value;

s4032: and if the first yaw angle average value is smaller than a first yaw angle threshold value and the absolute values of the yaw angles corresponding to all the manual driving working conditions are smaller than the first angle absolute value, acquiring a manual trigger judgment result meeting the manual calibration trigger condition.

The first time period refers to a preset time period. The yaw angle corresponding to the manual driving working condition is the yaw angle of the vehicle deviating from the lane line, which is acquired under the manual driving control state. The first yaw angle threshold is a yaw angle threshold for evaluating whether the first yaw angle mean satisfies a condition requiring recalibration. The first absolute value of the angle is used for evaluating whether the absolute value of the yaw angle corresponding to the manual driving working condition meets the angle absolute value which needs to be recalibrated.

As an example, in step S4031, when the manual driving condition data satisfies the manual condition evaluation condition, the vehicle-mounted controller needs to acquire a yaw angle corresponding to the manual driving condition at intervals of unit time in a first time period; and then, calculating the mean value of the yaw angles corresponding to all the manual driving conditions in the first time period to obtain a first yaw angle mean value.

As an example, in step S4032, the vehicle-mounted controller may compare the first yaw angle mean value with a first yaw angle threshold value, and compare the absolute values of the yaw angles corresponding to all the manual driving conditions with the first angle absolute values, respectively; and determining to obtain a manual trigger judgment result meeting the manual calibration trigger condition only when the first yaw angle mean value is smaller than a first yaw angle threshold value and the absolute values of the yaw angles corresponding to all the manual driving working conditions are smaller than a first angle absolute value.

In an embodiment, as shown in fig. 5, step S204 or step S302, namely, determining whether the automatic driving condition data satisfies the automatic calibration triggering condition, and obtaining an automatic triggering determination result includes:

s501: judging whether the automatic driving working condition data meet the automatic working condition evaluation condition or not;

s502: if the automatic driving condition data meet the automatic condition evaluation condition, acquiring automatic driving characteristic data;

s503: and acquiring an automatic triggering judgment result according to the automatic driving characteristic data and the automatic driving characteristic threshold value.

The automatic working condition evaluation condition is a pre-configured working condition evaluation condition used for evaluating whether the automatic driving working condition data meet the need of recalibration. The automatic driving feature data is feature data which is collected in real time in an automatic driving control state and is used for reflecting an actual driving environment.

As an example, in step S501, after acquiring the automatic driving condition data under the automatic driving control state, the vehicle-mounted controller compares the preset automatic condition evaluation condition with the automatic driving condition data to determine whether the automatic driving condition data collected in real time satisfies the preset automatic condition evaluation condition.

In one embodiment, the automatic driving condition data includes a vehicle speed per hour corresponding to the automatic driving condition, a road curvature radius corresponding to the automatic driving condition, and a steering wheel angle corresponding to the automatic driving condition;

in step S501, determining whether the automatic driving condition data satisfies the automatic condition evaluation condition includes:

s5011: comparing the vehicle speed per hour corresponding to the automatic driving working condition with a second vehicle speed threshold value, comparing the road curvature radius corresponding to the automatic driving working condition with a second road curvature radius threshold value, and comparing the steering wheel corner corresponding to the automatic driving working condition with a second steering wheel corner threshold value;

s5012: if the vehicle speed per hour corresponding to the automatic driving working condition is greater than a second vehicle speed threshold value, the road curvature radius corresponding to the automatic driving working condition is greater than a second road curvature radius threshold value, and the steering wheel corner corresponding to the automatic driving working condition is smaller than a second steering wheel corner threshold value, determining that the automatic driving working condition data meets the automatic working condition evaluation condition;

s5013: and if the vehicle speed per hour corresponding to the automatic driving working condition is not greater than the second vehicle speed threshold value, the road curvature radius corresponding to the automatic driving working condition is not greater than the second road curvature radius threshold value, or the steering wheel corner corresponding to the automatic driving working condition is not less than the second steering wheel corner threshold value, determining that the automatic driving working condition data does not meet the automatic working condition evaluation condition.

And the second vehicle speed threshold is a speed threshold used for evaluating whether the vehicle speed per hour corresponding to the automatic driving working condition meets the condition of needing to be calibrated again. The second road curvature radius threshold is a radius threshold used for evaluating whether the road curvature radius corresponding to the automatic driving working condition meets the condition of needing to be calibrated again. The second steering wheel angle threshold is an angle threshold used to evaluate whether the steering wheel angle corresponding to the autonomous driving condition meets the condition that needs to be recalibrated.

As an example, the vehicle-mounted controller compares the vehicle speed per hour corresponding to the automatic driving condition with a second vehicle speed threshold, compares the road curvature radius corresponding to the automatic driving condition with a second road curvature radius threshold, and compares the steering wheel angle corresponding to the automatic driving condition with a second steering wheel angle threshold; only when the vehicle speed per hour corresponding to the automatic driving working condition is greater than the second vehicle speed threshold value, the road curvature radius corresponding to the automatic driving working condition is greater than the second road curvature radius threshold value, and the steering wheel corner corresponding to the automatic driving working condition is less than the second steering wheel corner threshold value, the error of the automatic driving working condition data under the automatic driving control state is determined to be large, the automatic driving working condition data is determined to meet the automatic working condition evaluation condition, and the subsequent step S502 is executed.

As an example, the vehicle-mounted controller compares the vehicle speed per hour corresponding to the automatic driving condition with a second vehicle speed threshold, compares the road curvature radius corresponding to the automatic driving condition with a second road curvature radius threshold, compares the steering wheel angle corresponding to the automatic driving condition with a second steering wheel angle threshold, determines that an error of the automatic driving condition data in the automatic driving control state is small when the vehicle speed per hour corresponding to the automatic driving condition is not greater than the second vehicle speed threshold, the road curvature radius corresponding to the automatic driving condition is not greater than the second road curvature radius threshold, or the steering wheel angle corresponding to the automatic driving condition is not less than the second steering wheel angle threshold, determines that the automatic driving condition data does not satisfy the automatic condition evaluation condition, does not perform subsequent step S502, and continues to monitor and obtain the automatic driving condition data corresponding to the automatic driving condition.

The automatic driving feature data is feature data reflecting an actual driving environment in the automatic driving control state. The automatic driving feature threshold is a threshold for evaluating whether the automatic driving feature data satisfies a trigger recalibration condition.

As an example, in step S502, when the automatic driving condition data meets the automatic condition evaluation condition, the vehicle-mounted controller needs to acquire and obtain automatic driving feature data formed by an actual driving environment in the automatic driving control state, so as to ensure real-time performance and objectivity of acquiring the automatic driving feature data.

As an example, in step S503, after acquiring the automatic driving feature data, the vehicle-mounted controller needs to compare the automatic driving feature data with a preset automatic driving feature threshold value, so as to acquire an automatic triggering determination result according to a comparison result between the automatic driving feature data and the automatic driving feature threshold value.

For example, the automatic driving feature threshold may be a normal feature upper limit value and/or a normal feature lower limit value. When the automatic driving characteristic data is between the lower limit value of the normal characteristic and the upper limit value of the normal characteristic, the automatic driving characteristic data indicates that the vehicle runs under the automatic driving control state, the error between the current calibration parameter of the camera and the actual driving environment is small, and the camera does not need to be calibrated again, so that the condition that the automatic calibration triggering condition is not met is determined. On the contrary, if the automatic driving characteristic data is smaller than the lower limit value of the normal characteristic or the automatic driving characteristic data is larger than the upper limit value of the normal characteristic, it is indicated that the automatic driving characteristic data is that the vehicle runs under the automatic driving control state, and the error between the current calibration parameter of the camera and the actual driving environment is large, and the camera needs to be calibrated again, so that the automatic calibration triggering condition is determined to be met.

In an embodiment, step S503, namely obtaining an automatic triggering determination result according to the automatic driving feature data and the automatic driving feature threshold, includes:

s5031: counting a yaw angle corresponding to the automatic driving working condition, a yaw velocity corresponding to the automatic driving working condition and a driving track deviation corresponding to the automatic driving working condition in a second time period, and acquiring a second yaw angle mean value, a second yaw angle variance, a yaw velocity mean value and a driving track deviation mean value;

s5032: comparing the second yaw angle mean value with a second yaw angle threshold value, and comparing the second yaw angle variance with a yaw angle variance threshold value to obtain a yaw angle judgment result;

s5033: comparing the average value of the yaw rate with a threshold value of the yaw rate to obtain a judgment result of the yaw rate;

s5034: comparing the running track deviation mean value with a running track deviation threshold value to obtain a track deviation judgment result;

s5035: and acquiring an automatic triggering judgment result according to the yaw angle judgment result, the yaw velocity judgment result and the track deviation judgment result.

Wherein the second period of time is a preset period of time. And the yaw angle corresponding to the automatic driving working condition is the yaw angle of the vehicle deviating from the lane line collected in the automatic driving control state. The yaw rate corresponding to the automatic handling condition is the vehicle yaw rate collected under the automatic driving control state. The running track deviation corresponding to the automatic driving condition is the deviation between the running track of the vehicle and the target running track of the vehicle, which is detected in real time under the automatic driving control state. The second yaw angle threshold is a preset yaw angle threshold for evaluating whether the yaw angle corresponding to the automatic driving condition meets the condition of needing to be recalibrated. The yaw angle variance threshold is a preset yaw angle variance for evaluating whether the second yaw angle variance satisfies a recalibration-required condition. The yaw-rate threshold value is an angular-rate threshold value that is set in advance to evaluate whether the yaw-rate average value satisfies a condition requiring recalibration. The driving track deviation threshold is a preset deviation threshold used for evaluating whether the driving track deviation corresponding to the automatic driving condition meets the condition needing to be calibrated again.

As an example, in step S5031, when the automatic driving condition data satisfies the automatic condition evaluation condition, the on-board controller acquires a yaw angle corresponding to the automatic driving condition, a yaw rate corresponding to the automatic driving condition, and a deviation of a driving track corresponding to the automatic driving condition at intervals of a second time period. Then, the vehicle-mounted controller calculates the mean value and the variance of the yaw angles corresponding to all the automatic driving working conditions in the second time period, and respectively obtains a second yaw angle mean value and a second yaw angle variance; calculating the mean value of the yaw rates corresponding to all the automatic driving conditions in the second time period to obtain the mean value of the yaw rates; and calculating the mean value of the running track deviations corresponding to all the automatic driving working conditions in the second time period to obtain the mean value of the running track deviations.

As an example, in step S5032, the on-board controller compares the second yaw angle mean value with a second yaw angle threshold value, and compares the second yaw angle variance with a yaw angle variance threshold value; if the second yaw angle mean value is larger than a second yaw angle threshold value or the second yaw angle variance is larger than a yaw angle variance threshold value, determining that the error of the yaw angle mean value or the variance is larger, and acquiring a yaw angle judgment result which cannot pass the detection; and if the second yaw angle mean value is not larger than the second yaw angle threshold value and the second yaw angle variance is not larger than the yaw angle variance threshold value, determining that the errors of the yaw angle mean value and the yaw angle variance are smaller, and acquiring a yaw angle judgment result passing the detection.

As an example, in step S5033, the on-board controller compares the yaw-rate mean value with the yaw-rate threshold value; if the average value of the yaw angular velocity is larger than the threshold value of the yaw angular velocity, the error of the yaw angular velocity is determined to be larger, and a judgment result of the yaw angular velocity which cannot pass the detection is obtained; and if the average value of the yaw rates is not greater than the threshold value of the yaw rate, determining that the error of the yaw rate is small, and obtaining the judgment result of the detected yaw rate.

As an example, in step S5034, the vehicle-mounted controller compares the running track deviation mean value with a running track deviation threshold value; if the running track deviation mean value is larger than the running track deviation threshold value, the running track deviation is determined to be large, and a judgment result of the track deviation which cannot be detected is obtained; and if the average running track deviation is not greater than the running track deviation threshold, determining that the running track deviation is small, and acquiring a judgment result of the detected track deviation.

As an example, in step S5035, the on-board controller obtains the automatic trigger determination result according to the yaw angle determination result, the yaw rate determination result, and the trajectory deviation determination result, and specifically includes: if at least one of the yaw angle judgment result, the yaw velocity judgment result and the trajectory deviation judgment result is that the detection is not passed, acquiring an automatic triggering judgment result meeting an automatic calibration triggering condition; and if the yaw angle judgment result, the yaw velocity judgment result and the track deviation judgment result are detected to pass, acquiring an automatic triggering judgment result which does not meet the automatic calibration triggering condition so as to ensure the accuracy of the automatic triggering judgment result.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not limit the implementation process of the embodiments of the present invention in any way.

In an embodiment, an on-board controller is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method for controlling calibration and triggering of a camera in the foregoing embodiments is implemented, for example, S101 to S105 shown in fig. 1, or S2 to S5, which is not described herein again to avoid repetition. The vehicle-mounted controller can control the camera to execute automatic calibration operation only when the first driving working condition data corresponding to the first driving control state meets the first calibration trigger condition and the second driving working condition data corresponding to the second driving control state meets the second calibration trigger condition, and can update the calibration parameters of the camera in time when the calibration parameters of the camera are abnormal according to the driving working condition data of the two driving control states, so that the control precision of the intelligent driving system is ensured, and the stability and the safety of the intelligent driving function are ensured; and the driving intelligent system can adapt to more driving conditions, and the application range and time of the intelligent driving function are improved.

In one embodiment, an intelligent driving system is provided, which comprises the vehicle-mounted controller in the above embodiments. The vehicle-mounted controller can control the camera to execute automatic calibration operation only when the first driving working condition data corresponding to the first driving control state meets the first calibration trigger condition and the second driving working condition data corresponding to the second driving control state meets the second calibration trigger condition, and can update the calibration parameters of the camera in time when the calibration parameters of the camera are abnormal according to the driving working condition data of the two driving control states, so that the control precision of the intelligent driving system is ensured, and the stability and the safety of the intelligent driving function are ensured; and the driving intelligent system can adapt to more driving conditions, and the application range and time of the intelligent driving function are improved.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in a non-volatile computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; 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; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.

Claims

1. A camera calibration trigger control method is characterized by comprising the following steps:

if the first trigger judgment result is that a first calibration trigger condition is met, when the situation that the vehicle enters a second driving control state is monitored, second driving working condition data corresponding to the second driving control state is obtained;

judging whether the second driving condition data meet a second calibration triggering condition or not, and obtaining a second triggering judgment result;

2. The camera calibration trigger control method according to claim 1, wherein the camera calibration trigger control method is characterized in that

The first driving control state and the second driving control state are respectively one of a manual driving control state and an automatic driving control state;

the first trigger judgment step comprises the following steps: judging whether the manual driving condition data meet a manual calibration triggering condition or not, and acquiring a manual triggering judgment result;

3. The camera calibration trigger control method according to claim 2, wherein the determining whether the manual driving condition data satisfies a manual calibration trigger condition to obtain a manual trigger determination result comprises:

4. The camera calibration trigger control method according to claim 3, wherein the manual driving condition data includes a vehicle speed per hour corresponding to a manual driving condition, a road curvature radius corresponding to the manual driving condition, and a steering wheel angle corresponding to the manual driving condition;

comparing the vehicle speed per hour corresponding to the manual driving working condition with a first vehicle speed threshold value, comparing the road curvature radius corresponding to the manual driving working condition with a first road curvature radius threshold value, and comparing the steering wheel angle corresponding to the manual driving working condition with a first steering wheel angle threshold value;

if the vehicle speed per hour corresponding to the manual driving working condition is greater than a first vehicle speed threshold value, the road curvature radius corresponding to the manual driving working condition is greater than a first road curvature radius threshold value, and the steering wheel corner corresponding to the manual driving working condition is smaller than a first steering wheel corner threshold value, the manual driving working condition data are determined to meet the manual working condition evaluation condition;

5. The camera calibration trigger control method according to claim 3, wherein the manual driving characteristic data includes a yaw angle corresponding to a manual driving condition;

and if the first yaw angle average value is smaller than a first yaw angle threshold value and the absolute values of the yaw angles corresponding to all the manual driving working conditions are smaller than a first angle absolute value, acquiring a manual trigger judgment result meeting a manual calibration trigger condition.

6. The trigger control method for calibrating camera according to claim 2, wherein said determining whether the automatic driving condition data satisfies the automatic calibration trigger condition and obtaining the automatic trigger determination result comprises:

if the automatic driving working condition data meet the automatic working condition evaluation condition, obtaining automatic driving characteristic data;

7. The camera calibration trigger control method according to claim 6, wherein the automatic driving condition data includes a vehicle speed per hour corresponding to an automatic driving condition, a road curvature radius corresponding to the automatic driving condition, and a steering wheel angle corresponding to the automatic driving condition;

if the vehicle speed per hour corresponding to the automatic driving working condition is greater than a second vehicle speed threshold value, the road curvature radius corresponding to the automatic driving working condition is greater than a second road curvature radius threshold value, and the steering wheel corner corresponding to the automatic driving working condition is smaller than a second steering wheel corner threshold value, the automatic driving working condition data are determined to meet the automatic working condition evaluation condition;

8. The camera calibration trigger control method according to claim 6, wherein the automatic driving characteristic data includes a yaw angle corresponding to an automatic driving condition, a yaw rate corresponding to the automatic driving condition, and a driving track deviation corresponding to the automatic driving condition;

the obtaining of an automatic triggering judgment result according to the automatic driving feature data and the automatic driving feature threshold value includes:

9. An on-board controller comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the camera calibration triggering control method according to any one of claims 1 to 8 when executing the computer program.

10. An intelligent driving system, comprising the on-board controller of claim 9.