WO2020168744A1

WO2020168744A1 - Vehicle calibration system and method

Info

Publication number: WO2020168744A1
Application number: PCT/CN2019/115962
Authority: WO
Inventors: 钱鹏程
Original assignee: 苏州风图智能科技有限公司
Priority date: 2019-02-20
Filing date: 2019-11-06
Publication date: 2020-08-27
Also published as: CN109883331A

Abstract

A vehicle calibration system and method. Said system comprises a calibration device, a reference plate (3) and a control module. The calibration device comprises a first range finder (1) and a second range finder (2). The first range finder (1) is configured to acquire a first distance from the first range finder (1) to the reference plate (3). The second range finder (2) is configured to acquire a second distance from the second range finder (2) to the reference plate (3). The control module is configured to determine an included angle between a vehicle and the reference plate (3) according to the first distance and the second distance. By means of providing two range finders (1, 2) and a reference plate (3), vehicle calibration is performed by using the distances from the two range finders (1, 2), so that a self-driving vehicle has a simple calibration system, a concise calibration process, and low costs.

Description

Vehicle calibration system and method

Technical field

The present disclosure relates to the field of vehicle calibration, and in particular to a vehicle calibration system and method.

Background technique

Currently, the calibration of autonomous vehicles requires complex equipment, such as a four-wheel alignment device, which is not only complicated to use, but also expensive. Therefore, how to implement the calibration of an autonomous vehicle simply and at a lower cost has become an urgent problem to be solved.

Summary of the invention

In view of this, the present disclosure proposes a vehicle calibration system and method. This makes the calibration of autonomous vehicles easier and cheaper.

According to an aspect of the present disclosure, a vehicle calibration system is provided, the system includes: a calibration device, a reference board, and a control module, the calibration device includes a first rangefinder and a second rangefinder;

The first distance meter is used to obtain the first distance from the first distance meter to the reference board;

The second distance meter is used to obtain a second distance from the second distance meter to the reference board;

The control module is configured to determine the angle between the vehicle and the reference board according to the first distance and the second distance.

In a possible implementation, the first rangefinder and the second rangefinder are arranged on the vehicle, and the connection line between the first rangefinder and the second rangefinder is parallel to the width direction of the vehicle .

In a possible implementation manner, the first rangefinder and the second rangefinder are one or more of the following: a laser rangefinder, an infrared rangefinder, or an ultrasonic rangefinder.

In a possible implementation manner, the system further includes: a horizontal axis, the horizontal axis extending along the width direction of the vehicle;

The first rangefinder and the second rangefinder are located at different positions on the horizontal axis.

In a possible implementation manner, the emission direction of the first rangefinder and the emission direction of the second rangefinder are the same.

In a possible implementation manner, the emission direction of the first rangefinder and the emission direction of the second rangefinder are the length direction of the vehicle.

According to another aspect of the present disclosure, there is provided a vehicle calibration method based on the above system, and the method includes:

Acquiring the first distance from the first rangefinder to the reference board;

Acquiring a second distance from the second rangefinder to the reference board;

According to the first distance and the second distance, it is determined whether the vehicle reaches a calibration state.

In a possible implementation manner, the calibration state is that the angle between the vehicle and the reference board is a preset angle, and determining whether the vehicle reaches the calibration state according to the first distance and the second distance includes:

Determine the angle between the vehicle and the reference board according to the first distance and the second distance;

If the included angle is the same as the preset angle, it can be determined that the vehicle reaches the calibration state.

In a possible implementation manner, the preset angle is 90 degrees, and determining whether the vehicle reaches the calibration state according to the first distance and the second distance includes:

If the first distance is equal to the second distance, it is determined that the vehicle reaches the calibration state.

According to another aspect of the present disclosure, there is provided a vehicle calibration device, including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above method.

According to another aspect of the present disclosure, there is provided a non-volatile computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions implement the above method when executed by a processor.

By setting up two rangefinders and a reference board, and using the distance between the two rangefinders to perform vehicle calibration, the vehicle calibration system and method according to the embodiments of the present disclosure make the calibration system of the autonomous vehicle simpler and the calibration process simpler , And use the rangefinder to achieve calibration, making the calibration system cost lower.

According to the following detailed description of exemplary embodiments with reference to the accompanying drawings, other features and aspects of the present disclosure will become clear.

Description of the drawings

The drawings included in the specification and constituting a part of the specification together with the specification illustrate exemplary embodiments, features, and aspects of the present disclosure, and are used to explain the principle of the present disclosure.

Fig. 1 shows a schematic diagram of a vehicle calibration system according to an embodiment of the present disclosure.

Fig. 2 shows a schematic diagram of a vehicle calibration system according to an embodiment of the present disclosure.

Fig. 3 shows a schematic diagram of a vehicle calibration system according to an embodiment of the present disclosure.

Fig. 4 shows a flowchart of a vehicle calibration method according to an embodiment of the present disclosure.

Fig. 5 shows a flowchart of step S13 according to an embodiment of the present disclosure.

Fig. 6 is a block diagram showing a vehicle calibration device 800 according to an exemplary embodiment.

Fig. 7 is a block diagram showing a vehicle calibration device 1900 according to an exemplary embodiment.

detailed description

Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the drawings. The same reference numerals in the drawings indicate elements with the same or similar functions. Although various aspects of the embodiments are shown in the drawings, unless otherwise noted, the drawings are not necessarily drawn to scale.

The dedicated word "exemplary" here means "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" need not be construed as being superior or better than other embodiments.

In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. Those skilled in the art should understand that the present disclosure can also be implemented without some specific details. In some instances, the methods, means, elements, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the gist of the present disclosure.

Fig. 1 shows a schematic diagram of a vehicle calibration system according to an embodiment of the present disclosure. The Fig. 1 is a top view, and the vehicle may be an autonomous driving vehicle. As shown in FIG. 1, the calibration system may include: a calibration device, a reference board (calibration board) 3, and a control module (not shown), the calibration device may include a first rangefinder 1 and a second rangefinder 2. Taking the first rangefinder 1 and the second rangefinder 2 as laser rangefinders as an example, the A may be the laser emission source point of the first rangefinder 1, and the B may be the second rangefinder 2. The laser emission source point.

As shown in FIG. 1, the plane L may be a plane parallel to the longitudinal direction (front-rear direction) of the vehicle. For example, if the vehicle is mirror-symmetrical left and right, the vehicle may be mirror-symmetrical with respect to the plane L.

The first rangefinder 1 and the second rangefinder 2 may be located at symmetrical positions of the vehicle. For example, the first rangefinder 1 may be located at the center of the left rear wheel, and the second rangefinder may be located at the center of the right rear wheel. Center, the center of the left rear wheel and the center of the right rear wheel may both be on the straight line AB. This is only an example of the positions of the first rangefinder 1 and the second rangefinder 2. The first rangefinder 1 and the second rangefinder 2 may both be at the front of the vehicle or at the rear of the vehicle. limited.

As shown in Fig. 1, the launch directions of the first rangefinder 1 and the second rangefinder 2 may be the length direction of the vehicle.

The first distance meter 1 can be used to obtain the first distance from the first distance meter 1 to the reference board 3; the second distance meter 2 can be used to acquire the second distance meter 2 to the reference board 3; Refer to the second distance of the board 3.

The control module may be a computer installed in the vehicle, an independent processor, etc., or the control module may also be a remotely controlled computer, etc. The control module can communicate with the first rangefinder and the second rangefinder, and the communication mode may be a wireless communication mode or a wired communication mode. The control module can obtain the first distance and the second distance from the first distance meter and the second distance meter respectively, and can determine the distance between the vehicle and the reference board according to the first distance and the second distance. The included angle, the control module can realize the calibration of the vehicle by determining whether the included angle of the reference plate is equal to the preset angle.

The preset angle may be a preset vehicle calibration time, the angle between the vehicle (the length direction of the vehicle) and the reference plate.

In one example, if the first rangefinder 1 is placed at the center of the left rear wheel of the vehicle, the second rangefinder 2 is placed at the center of the right rear wheel of the vehicle, and the launch direction of the first rangefinder 1 and the second The launching direction of the distance meter 2 is the length direction of the vehicle, and the preset angle is 60 degrees. The control module can determine whether the angle between the vehicle (the length direction of the vehicle) and the reference board is 60 degrees according to the first distance and the second distance. As shown in FIG. 1, BC is parallel to the reference board 3. The angle a between the vehicle and the reference board 3 is equal to the angle E (angle AEB), the triangle ABE is a right-angled triangle, the AE = the first distance-the second distance, and AB is the first distance meter and the second distance meter. The distance meter is known, therefore, the degree of the angle E can be calculated, and the control module can obtain the degree of the included angle a. The control module can determine whether the included angle a is equal to 60 degrees, and if it is equal, it can be determined to achieve vehicle calibration If the included angle a is not equal to 60 degrees, it can be determined that the vehicle is not calibrated.

In another example, if the preset angle is 90 degrees, that is, the vehicle is calibrated when the vehicle is perpendicular to the reference plate 3, as shown in Figure 2, the control module can determine whether the vehicle is at 90 degrees according to the angle between the vehicle and the reference plate 3 Calibration; or, the control module can determine whether the vehicle is calibrated according to whether the first distance AD is equal to the second distance BC, for example, if AD is equal to BC, it can be determined to achieve vehicle calibration.

By setting two rangefinders and a reference board, and using the distance between the two rangefinders to perform vehicle calibration, the vehicle calibration system according to the embodiment of the present disclosure makes the calibration system of the autonomous vehicle simpler, and the calibration process is simpler, and The use of rangefinder to achieve calibration makes the cost of the calibration system lower.

In a possible implementation manner, the first rangefinder and the second rangefinder may be one or more of the following: a laser rangefinder, an infrared rangefinder, or an ultrasonic rangefinder.

In a possible implementation, the first rangefinder and the second rangefinder may be set on the vehicle, and the connection line between the first rangefinder and the second rangefinder may be the same as the width of the vehicle. The directions (left and right directions) are parallel. That is to say, the first rangefinder and the second rangefinder can be mirror-symmetrical with respect to the plane L, as shown in Fig. 1, that is, A of the first rangefinder and B of the second rangefinder are relative to The plane L is mirror-symmetrical.

In a possible implementation, the emission direction of the first rangefinder and the emission direction of the second rangefinder may be the same. For example, as shown in FIG. 1, the emission direction of the first rangefinder is the same as The launch direction of the second rangefinder is parallel and is consistent with the length of the vehicle.

In an example, the emission direction of the first rangefinder and the emission direction of the second rangefinder may both be perpendicular to the width direction of the vehicle, that is, the emission direction of the first rangefinder and the second rangefinder The launching direction of the range meter can be perpendicular to the straight line AB. The angle between the emission direction of the first rangefinder and the emission direction of the second rangefinder and the horizontal plane, for example, may be 0-45 degrees. This disclosure does not limit this.

It should be noted that the emission direction of the first rangefinder and the emission direction of the second rangefinder may not be perpendicular to the width direction of the vehicle, as long as the emission direction of the first rangefinder and the second rangefinder The launch direction of the range meter is the same.

Fig. 3 shows a schematic diagram of a vehicle calibration system according to an embodiment of the present disclosure. As shown in FIG. 3, in a possible implementation manner, the calibration system may further include: a horizontal axis M, the horizontal axis M may extend along the width direction of the vehicle; wherein, the horizontal axis The axis M can be arranged on the left or right side of the vehicle.

The first rangefinder and the second rangefinder may be located at different positions on the horizontal axis, as shown in FIG. 3.

The emission direction of the first rangefinder and the emission direction of the second rangefinder may be the same, and the emission direction of the first rangefinder and the emission direction of the second rangefinder may both be perpendicular to the direction of the vehicle. The width direction, as shown in FIG. 3, that is, the emission direction of the first rangefinder and the emission direction of the second rangefinder may both be perpendicular to the horizontal axis M, for example, the first rangefinder The emission direction and the emission direction of the second rangefinder may be the length direction of the vehicle.

Fig. 4 shows a flowchart of a vehicle calibration method according to an embodiment of the present disclosure. As shown in Figure 4, the method may include:

Step S11, acquiring a first distance from the first rangefinder to the reference board;

Step S12, acquiring a second distance from the second rangefinder to the reference board;

Step S13: According to the first distance and the second distance, it is determined whether the vehicle reaches the calibration state.

The control module may obtain a first distance from a first distance meter and a second distance from a second distance meter. The control module may determine whether the vehicle has reached a calibration state based on the first distance and the second distance. The calibration state may mean that the angle between the vehicle and the reference plate is a preset angle.

In an example, if the preset angle is 90 degrees, that is, the vehicle calibration state is that the vehicle is perpendicular to the reference board 3, the control module can determine whether the vehicle is perpendicular to the The reference board is vertical to determine whether the vehicle reaches the calibration state. If the first distance and the second distance are equal, the control module can determine that the vehicle is perpendicular to the reference board, and then determine that the vehicle reaches the calibration state, as shown in FIGS. 2 and 3. If the first distance and the second distance are not equal, the control module may determine that the vehicle is not perpendicular to the reference plate, and then determine that the vehicle has not reached the calibration state.

By arranging two rangefinders and a reference board, and using the distance between the two rangefinders to perform vehicle calibration, the vehicle calibration method according to the embodiment of the present disclosure makes the calibration system of the autonomous vehicle simpler, and the calibration process is simpler, and The use of rangefinder to achieve calibration makes the cost of the calibration system lower.

Fig. 5 shows a flowchart of step S13 according to an embodiment of the present disclosure. As shown in FIG. 5, in a possible implementation manner, the step S13 may include:

Step S131: Determine the angle between the vehicle and the reference board according to the first distance and the second distance;

Step S132: If the included angle is the same as the preset angle, it is determined that the vehicle has reached the calibration state.

The control module on the vehicle can determine the angle between the vehicle and the reference plate according to the first distance and the second distance. As shown in Figure 1, the angle between the angle a and the angle a can be determined. Whether the preset angles are the same, if they are the same, it can be determined that the vehicle reaches the calibration state. Among them, the calculation method of the included angle a is the same as above, and will not be repeated.

Fig. 6 is a block diagram showing a vehicle calibration device 800 according to an exemplary embodiment. For example, the device 800 may be a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

6, the device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, And the communication component 816.

The processing component 802 generally controls the overall operations of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations in the device 800. Examples of these data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or nonvolatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic Disk or Optical Disk.

The power supply component 806 provides power to various components of the device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 800.

The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, sliding, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure related to the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive external audio signals. The received audio signal may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 further includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module. The peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include but are not limited to: home button, volume button, start button, and lock button.

The sensor component 814 includes one or more sensors for providing the device 800 with various aspects of status assessment. For example, the sensor component 814 can detect the on/off status of the device 800 and the relative positioning of the components. For example, the component is the display and the keypad of the device 800. The sensor component 814 can also detect the position change of the device 800 or a component of the device 800. , The presence or absence of contact between the user and the device 800, the orientation or acceleration/deceleration of the device 800, and the temperature change of the device 800. The sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact. The sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the device 800 and other devices. The device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, the apparatus 800 may be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing equipment (DSPD), programmable logic devices (PLD), field programmable A gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.

In an exemplary embodiment, there is also provided a non-volatile computer-readable storage medium, such as the memory 804 including computer program instructions, which can be executed by the processor 820 of the device 800 to complete the foregoing method.

Fig. 7 is a block diagram showing a vehicle calibration device 1900 according to an exemplary embodiment. For example, the device 1900 may be provided as a server. 7, the apparatus 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by a memory 1932, for storing instructions that can be executed by the processing component 1922, such as application programs. The application program stored in the memory 1932 may include one or more modules each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above-described methods.

The device 1900 may also include a power component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to the network, and an input output (I/O) interface 1958. The device 1900 can operate based on an operating system stored in the memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or the like.

In an exemplary embodiment, there is also provided a non-volatile computer-readable storage medium, such as the memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the device 1900 to complete the foregoing method.

The present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling a processor to implement various aspects of the present disclosure.

The computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (non-exhaustive list) include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a printer with instructions stored thereon The protruding structure in the hole card or the groove, and any suitable combination of the above. The computer-readable storage medium used here is not interpreted as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.

The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network, and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device .

The computer program instructions used to perform the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, status setting data, or in one or more programming languages. Source code or object code written in any combination, the programming language includes object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as "C" language or similar programming languages. Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server carried out. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to access the Internet connection). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions. The computer-readable program instructions are executed to realize various aspects of the present disclosure.

Herein, various aspects of the present disclosure are described with reference to flowcharts and/or block diagrams of methods, apparatuses (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and/or block diagrams and combinations of blocks in the flowcharts and/or block diagrams can be implemented by computer-readable program instructions.

These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine such that when these instructions are executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowchart and/or block diagram is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner, so that the computer-readable medium storing instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowchart and/or block diagram.

It is also possible to load computer-readable program instructions onto a computer, other programmable data processing device, or other equipment, so that a series of operation steps are executed on the computer, other programmable data processing device, or other equipment to produce a computer-implemented process , So that the instructions executed on the computer, other programmable data processing apparatus, or other equipment realize the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

The flowcharts and block diagrams in the drawings show the possible implementation architecture, functions, and operations of the system, method, and computer program product according to multiple embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more functions for implementing the specified logical function. Executable instructions. In some alternative implementations, the functions marked in the block may also occur in a different order from the order marked in the drawings. For example, two consecutive blocks can actually be executed in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.

The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Without departing from the scope and spirit of the described embodiments, many modifications and changes are obvious to those of ordinary skill in the art. The choice of terms used herein is intended to best explain the principles, practical applications, or technical improvements of the technologies in the market, or to enable other ordinary skilled in the art to understand the embodiments disclosed herein.

Claims

A vehicle calibration system, characterized by comprising: a calibration device, a reference board, and a control module, the calibration device including a first rangefinder and a second rangefinder;

The first distance meter is used to obtain the first distance from the first distance meter to the reference board;

The second distance meter is used to obtain a second distance from the second distance meter to the reference board;

The control module is configured to determine the angle between the vehicle and the reference board according to the first distance and the second distance.
The system according to claim 1, wherein the first rangefinder and the second rangefinder are installed on a vehicle, and the connection between the first rangefinder and the second rangefinder Parallel to the width direction of the vehicle.
The calibration system according to claim 1, wherein the first rangefinder and the second rangefinder are one or more of the following: a laser rangefinder, an infrared rangefinder, or an ultrasonic rangefinder instrument.
The system according to claim 1, further comprising: a horizontal axis, the horizontal axis extending along the width direction of the vehicle;

The first rangefinder and the second rangefinder are located at different positions on the horizontal axis.
The system according to claim 2 or 4, wherein the emission direction of the first rangefinder and the emission direction of the second rangefinder are the same.
The system according to claim 5, wherein the emission direction of the first rangefinder and the emission direction of the second rangefinder are the length direction of the vehicle.
A vehicle calibration method based on the system of claim 5, characterized in that it comprises:

Acquiring the first distance from the first rangefinder to the reference board;

Acquiring a second distance from the second rangefinder to the reference board;

According to the first distance and the second distance, it is determined whether the vehicle reaches a calibration state.
The calibration method according to claim 7, wherein the calibration state means that the angle between the vehicle and the reference board is a preset angle, and the first distance and the second distance are used to determine whether the vehicle reaches Calibration status, including:

Determine the angle between the vehicle and the reference board according to the first distance and the second distance;

If the included angle is the same as the preset angle, it can be determined that the vehicle reaches the calibration state.
The calibration method according to claim 8, wherein the preset angle is 90 degrees, and determining whether the vehicle reaches the calibration state according to the first distance and the second distance comprises:

If the first distance is equal to the second distance, it is determined that the vehicle reaches the calibration state.
A vehicle calibration device, characterized in that it comprises:

processor;

A memory for storing processor executable instructions;

Wherein, the processor is configured to:

The executable instructions are executed to implement the method of any one of claims 7-9.
A non-volatile computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions implement the method of any one of claims 7-9 when executed by a processor.