CN112255621A - Calibration method and device of vehicle sensor, electronic equipment and storage medium - Google Patents

Calibration method and device of vehicle sensor, electronic equipment and storage medium Download PDF

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CN112255621A
CN112255621A CN202011073363.XA CN202011073363A CN112255621A CN 112255621 A CN112255621 A CN 112255621A CN 202011073363 A CN202011073363 A CN 202011073363A CN 112255621 A CN112255621 A CN 112255621A
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coordinate
dynamic
sensor
vehicle
coordinate system
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CN112255621B (en
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衣春雷
陈博
金晓哲
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FAW Group Corp
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FAW Group Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating

Abstract

The embodiment of the invention discloses a calibration method and device of a vehicle sensor, electronic equipment and a storage medium, wherein the method comprises the following steps: in the vehicle motion process, the dynamic matching proportion between the target to be measured by the vehicle main sensor and the target to be measured by the auxiliary sensor is determined in a circulating mode, the judgment is carried out according to the dynamic matching proportion and the static matching proportion, if a recalibration instruction is triggered, the auxiliary sensor is controlled to acquire a first dynamic coordinate of the target to be measured in an auxiliary sensor coordinate system, the main sensor acquires a second dynamic coordinate of the target to be measured in the main sensor coordinate system, the projection relation between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding measurement coordinate in the main sensor coordinate system is recalibrated according to the first dynamic coordinate and the second dynamic coordinate, and the dynamic matching proportion between the target to be measured by the vehicle main sensor and the target to be measured by the auxiliary sensor is determined in a circulating mode based on the recalibration result. The vehicle sensor calibration method can calibrate the vehicle sensor in the vehicle motion process, and improves the sensor calibration accuracy.

Description

Calibration method and device of vehicle sensor, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to the field of automatic driving of vehicles, in particular to a calibration method and device of a vehicle sensor, electronic equipment and a storage medium.
Background
For an autonomous vehicle, in order to accurately obtain information such as the position, shape, orientation, speed, acceleration, classification and the like of a target in the surrounding environment, various sensing sensors on the vehicle must be spatially calibrated, so that the surrounding environment information "seen" by different sensors is spatially consistent.
In the prior art, a plurality of sensors on a vehicle are calibrated when the vehicle is static, namely before the sensors are used. The prior art has at least the following disadvantages: static calibration is performed only once before the sensor is used, the position and posture of the sensor can be changed due to factors such as jolt and the like in the driving process of the automatic driving vehicle, the calibration parameters in the early stage can not meet the follow-up target matching requirement, the consistency of a calibration scene and an actual scene can not be ensured, and the accuracy of sensor calibration is reduced.
Disclosure of Invention
The embodiment of the invention provides a calibration method and device of a vehicle sensor, electronic equipment and a storage medium, which can calibrate the vehicle sensor in the vehicle motion process, ensure the consistency of a calibration scene and an actual scene, and improve the accuracy of sensor calibration.
In a first aspect, an embodiment of the present invention provides a calibration method for a vehicle sensor, including:
in the moving process of the vehicle, circularly determining the dynamic matching proportion between the target to be measured by a main sensor of the vehicle and the target to be measured by an auxiliary sensor of the vehicle;
judging whether a recalibration instruction is triggered or not according to the dynamic matching proportion and a preset static matching proportion;
if so, responding to the recalibration instruction, controlling the auxiliary sensor to acquire a first dynamic coordinate of the target to be detected in an auxiliary sensor coordinate system, and controlling the main sensor to acquire a second dynamic coordinate of the target to be detected in a main sensor coordinate system;
and according to the first dynamic coordinate and the second dynamic coordinate, re-calibrating the projection relation between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system, and circularly determining the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle based on the re-calibration result.
In a second aspect, an embodiment of the present invention further provides a calibration apparatus for a vehicle sensor, including:
the dynamic matching proportion determining module is used for circularly determining the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle in the moving process of the vehicle;
the trigger calibration instruction judging module is used for judging whether to trigger a recalibration instruction according to the dynamic matching proportion and a preset static matching proportion;
the dynamic coordinate acquisition module is used for responding to a recalibration instruction if the recalibration instruction is triggered, controlling the auxiliary sensor to acquire a first dynamic coordinate of the target to be detected in an auxiliary sensor coordinate system and controlling the main sensor to acquire a second dynamic coordinate of the target to be detected in a main sensor coordinate system;
and the recalibration module is used for recalibrating the projection relation between the measurement coordinate under the auxiliary sensor coordinate system and the corresponding projection coordinate under the main sensor coordinate system according to the first dynamic coordinate and the second dynamic coordinate, and circularly determining the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle based on the recalibration result.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the calibration method of the vehicle sensor according to any embodiment of the invention.
In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method of calibrating a vehicle sensor according to any of the embodiments of the present invention.
According to the calibration method of the vehicle sensor provided by the embodiment of the invention, in the vehicle motion process, the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle is determined in a circulating manner, whether a recalibration instruction is triggered is judged according to the dynamic matching proportion and the preset static matching proportion, if yes, the auxiliary sensor is controlled to collect a first dynamic coordinate of the target to be measured in the auxiliary sensor coordinate system and control the main sensor to collect a second dynamic coordinate of the target to be measured in the main sensor coordinate system, the projection relation between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system is recalibrated according to the first dynamic coordinate and the second dynamic coordinate, and the dynamic relation between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle is determined in a circulating manner based on the recalibration result Matching proportion realizes the calibration of the vehicle sensor in the vehicle motion process, ensures the consistency of the calibration scene and the actual scene, and improves the accuracy of the sensor calibration.
Drawings
FIG. 1 is a schematic flow chart illustrating a calibration method for vehicle sensors according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a target position measured by a primary sensor and a target position measured by a secondary sensor in accordance with an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a calibration method for vehicle sensors according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram showing an angular relationship of a coordinate system of a main sensor in which a rotation angle is positive according to a second embodiment of the present invention;
FIG. 5 is a schematic diagram of the angular relationship of the principal sensor coordinate system with negative rotation angles according to a second embodiment of the present invention;
fig. 6 is a structural block diagram of a calibration apparatus for a vehicle sensor according to a third embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In the following embodiments, optional features and examples are provided in each embodiment, and various features described in the embodiments may be combined to form a plurality of alternatives, and each numbered embodiment should not be regarded as only one technical solution.
Example one
Fig. 1 is a schematic flow chart of a calibration method for a vehicle sensor according to an embodiment of the present invention, where the calibration method for a vehicle sensor according to the embodiment of the present invention is suitable for a situation where the vehicle sensor is calibrated, and specifically, the vehicle sensor may be calibrated in real time during a vehicle moving process. The method may be performed by the calibration apparatus for a vehicle sensor provided in the embodiment of the present invention, and the calibration apparatus for a vehicle sensor may be configured in the electronic device provided in the embodiment of the present invention, for example, in a computer.
As shown in fig. 1, a calibration method for a vehicle sensor according to an embodiment of the present invention includes:
and S110, circularly determining the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle in the moving process of the vehicle.
In the moving process of the vehicle, a main sensor of the vehicle is used for measuring the coordinate of the target to be measured in real time, an auxiliary sensor of the vehicle is used for measuring the same coordinate of the target to be measured, the coordinate of the target to be measured by the auxiliary sensor is projected to the coordinate of the main sensor coordinate system, the coordinate of the target to be measured by the main sensor and the coordinate of the target to be measured by the auxiliary sensor are projected to the coordinate of the main sensor coordinate system, the dynamic matching proportion of the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor is determined, a time interval can be set, and when the preset time interval is reached, the steps are repeated. For example, the primary sensor may be a laser radar, the secondary sensor may be a millimeter wave radar, and the dynamic matching proportion is determined by using coordinates of the target to be measured by the laser radar and projected coordinates of the target to be measured projected to a laser radar coordinate system measured by the millimeter wave radar during the movement of the vehicle.
Fig. 2 is a schematic diagram of a measured target position of a main sensor and a measured target position of an auxiliary sensor, referring to fig. 2, for example, an origin of a vehicle body coordinate system is at the center of a vehicle head, the main sensor is also at the center of the vehicle head, an xy coordinate system of the main sensor coincides with the vehicle body coordinate system, the auxiliary sensor may be located at other positions of the vehicle, coordinates of a target to be measured acquired by the auxiliary sensor are coordinates under the coordinate system of the auxiliary sensor, and (Δ x, Δ y) is an installation position deviation existing between the main sensor and the auxiliary sensor.
And S120, judging whether a recalibration instruction is triggered or not according to the dynamic matching proportion and a preset static matching proportion.
And determining whether to trigger a recalibration instruction by judging whether the dynamic matching proportion and the preset static matching proportion meet a certain preset condition. Optionally, the certain preset condition may be that a difference between the static matching ratio and the dynamic matching ratio is greater than a preset value.
Optionally, the process of determining the preset static matching ratio includes:
when the vehicle is static, controlling the auxiliary sensor to acquire a first static coordinate of a static target to be measured in an auxiliary sensor coordinate system, and converting the first static coordinate into a main sensor coordinate system to obtain a static conversion coordinate;
controlling a main sensor to acquire a second static coordinate of the static target to be measured in a main sensor coordinate system;
determining a preset static matching proportion based on the static conversion coordinate, a preset static projection relation and the second static coordinate;
and the number of the static targets to be measured is more than or equal to 3.
When the vehicle is static, an auxiliary sensor is used for collecting a first static coordinate of a static target to be measured under an auxiliary sensor coordinate system, the first static coordinate is converted into a vehicle body coordinate system to obtain a static conversion coordinate, then the static conversion coordinate is used for determining a corresponding static projection coordinate of the auxiliary sensor according to a preset static projection relation, wherein the preset static projection relation is an expression which is expressed in a parameter form and related to the relation between a third static coordinate and a fourth static coordinate, wherein the third static coordinate is measured by the auxiliary sensor under the auxiliary sensor coordinate system in advance, and the fourth static coordinate is measured by a main sensor under the main sensor coordinate system.
The main sensor measures the target to be measured to obtain a second static coordinate of the target to be measured in the main sensor coordinate system, and the static matching proportion is determined by using the static projection coordinate projected to the main sensor coordinate system and the second static coordinate of the target to be measured by the main sensor. Optionally, the matching number of the static projection coordinates and the second static coordinates may be determined, and then the static matching proportion is determined based on the matching number and the total number of the static targets to be detected.
When the vehicle is static, the static matching proportion is determined through static calibration, so that reference is conveniently carried out during subsequent dynamic re-calibration.
Optionally, the static target to be measured may be a target that is movably placed at different positions in a sensing overlapping area of the main sensor and the auxiliary sensor, may be a target to be measured that is placed in each of the left lane, the middle lane and the right lane in a sensing range of the sensor in front of the vehicle, or may be a target to be measured that is moved by 1 target to be measured by more than 3 positions, or a plurality of targets to be measured are placed in front of the sensor at the same time.
S130, if the recalibration instruction is triggered, responding to the recalibration instruction, controlling the auxiliary sensor to acquire a first dynamic coordinate of the target to be detected in the auxiliary sensor coordinate system, and controlling the main sensor to acquire a second dynamic coordinate of the target to be detected in the main sensor coordinate system.
And optionally, if the difference value between the static matching proportion and the dynamic matching proportion is greater than a certain preset value, triggering a recalibration instruction. The control system responds to the recalibration instruction, the auxiliary sensor is used for collecting first dynamic coordinates of a certain number of targets to be detected in the region of interest under the coordinate system of the auxiliary sensor, and the main sensor is used for collecting second dynamic coordinates of the same number of targets to be detected in the same region of interest as that of the auxiliary sensor under the coordinate system of the main sensor. For example, the region of interest may be a sensing overlap region of the main sensor and the auxiliary sensor, and the two may respectively collect dynamic coordinates of all targets to be detected in the sensing overlap region, or may collect dynamic coordinates of partially identical targets to be detected in the sensing overlap region.
S140, re-calibrating the projection relation between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system according to the first dynamic coordinate and the second dynamic coordinate, and circularly determining the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle based on the re-calibration result.
The method comprises the steps of determining a projection relation between a target to be measured by an auxiliary sensor under an auxiliary sensor coordinate system and a projection coordinate projected to the main sensor coordinate system by utilizing a first dynamic coordinate of the target to be measured acquired by the auxiliary sensor under the auxiliary sensor coordinate system and a second dynamic coordinate of the target to be measured acquired by a main sensor under the main sensor coordinate system, wherein a recalibration result can be a projection parameter representing the projection relation, determining the projection coordinate projected to the main sensor coordinate system by utilizing the projection parameter after determining the projection parameter, and circularly determining a dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle by utilizing the projection coordinate and the second dynamic coordinate.
Optionally, if the recalibration instruction is triggered, the method further includes:
and if the difference value of the static matching proportion and the dynamic matching proportion is greater than the preset value in the preset time period, sending abnormal information to the display terminal.
If the difference value between the static matching proportion and the dynamic matching proportion determined by recalibration is always larger than the preset value within the preset time interval, an abnormal message can be sent to the user display terminal to inform the user that the vehicle cannot realize automatic dynamic calibration and request manual intervention. The preset time interval may be a time interval from triggering recalibration to performing recalibration for several times, and the number of times of recalibration performed in the preset time interval is not particularly limited in the embodiment of the present invention.
Because the automatic calibration of the vehicle still cannot be realized after repeated calibration, the vehicle cannot be automatically re-calibrated, manual intervention is needed at the moment, the vehicle sensor is calibrated, and an abnormal message is sent to the user display terminal, so that the user is reminded to perform manual intervention conveniently.
In the technical scheme disclosed in this embodiment, during the movement of the vehicle, a dynamic matching ratio between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle is determined in a circulating manner, whether a recalibration command is triggered is determined according to the dynamic matching ratio and a preset static matching ratio, if yes, the auxiliary sensor is controlled to acquire a first dynamic coordinate of the target to be measured in the coordinate system of the auxiliary sensor and control the main sensor to acquire a second dynamic coordinate of the target to be measured in the coordinate system of the main sensor in response to the recalibration command, a projection relationship between the measurement coordinate in the coordinate system of the auxiliary sensor and the corresponding projection coordinate in the coordinate system of the main sensor is recalibrated according to the first dynamic coordinate and the second dynamic coordinate, and a dynamic matching ratio between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle is determined in a circulating, the method and the device realize calibration of the vehicle sensor in the vehicle motion process, ensure the consistency of a calibration scene and an actual scene, and improve the accuracy of sensor calibration.
Example two
Fig. 3 is a schematic flowchart of a calibration method for a vehicle sensor according to a second embodiment of the present invention, and this embodiment refines the calibration method for the vehicle sensor on the basis of the second embodiment, and specifically refines the determination method for the dynamic matching ratio and the projection relationship between the recalibration auxiliary sensor coordinate system and the main sensor coordinate system. The embodiment of the invention and the calibration method of the vehicle sensor provided by the embodiment belong to the same inventive concept, and technical details which are not described in detail can be referred to the embodiment, and have the same technical effects.
As shown in fig. 3, the calibration method for a vehicle sensor provided in this embodiment includes:
s210, in the moving process of the vehicle, controlling an auxiliary sensor of the vehicle to acquire a third dynamic coordinate of the target to be detected in an auxiliary sensor coordinate system, and controlling a main sensor of the vehicle to acquire a fourth dynamic coordinate of the target to be detected in a main sensor coordinate system.
In the moving process of the vehicle, the auxiliary sensor and the main sensor are respectively used for collecting the coordinates of the target to be measured, and a third dynamic coordinate of the target to be measured in the auxiliary sensor coordinate system and a fourth dynamic coordinate of the target to be measured in the main sensor coordinate system are correspondingly obtained.
It should be noted that, in the present embodiment, the main sensor coordinate system coincides with the vehicle body coordinate system, and the conversion of the coordinates into the main sensor coordinate system is the conversion of the coordinates into the vehicle body coordinate system.
And S220, projecting the third dynamic coordinate to a main sensor coordinate system of the vehicle based on the historical calibration result to obtain a fifth dynamic coordinate.
In order to make the coordinates of the target to be measured by different sensors have the same reference, the third dynamic coordinate of the target to be measured by the auxiliary sensor under the auxiliary sensor coordinate system is firstly converted into a vehicle body coordinate system, then the conversion coordinate corresponding to the third dynamic coordinate converted into the vehicle body coordinate system is projected to the coordinate system of the main sensor of the vehicle by using a projection relation determined by historical calibration results to obtain a projected fifth dynamic coordinate, it is required to be noted that if the main sensor coordinate system is superposed with the vehicle body coordinate system, the third dynamic coordinate is firstly converted into the main sensor coordinate system, then the converted coordinate is required to be projected to the main sensor coordinate system again to obtain the fifth dynamic coordinate, wherein the conversion process takes the difference of the installation poses of the main sensor and the auxiliary sensor into account, and the projection process takes the difference of the position measurement of different sensors to the same target into account, therefore, even if the main sensor coordinate system coincides with the vehicle body coordinate system, the conversion process and the projection process are necessary.
And S230, matching the fourth dynamic coordinate with the fifth dynamic coordinate, and counting the matching number.
The fourth dynamic coordinates and the fifth dynamic coordinates of a plurality of targets to be detected are determined by the main sensor and the auxiliary sensor, and the fourth dynamic coordinates and the fifth dynamic coordinates corresponding to the same target to be detected are subjected to coordinate matching, illustratively, the euclidean distance can be used for matching, and the mahalanobis distance can also be used for matching. The result obtained by calculation by any one of the matching methods can be compared with a preset distance, if the result is smaller than the preset distance, the fourth dynamic coordinate is judged to be matched with the corresponding fifth dynamic coordinate, and finally the number of the coordinates meeting the matching requirement is counted.
S240, acquiring the total number of the targets to be detected, and determining the dynamic matching proportion between the targets to be detected measured by the main sensor of the vehicle and the targets to be detected measured by the auxiliary sensor of the vehicle based on the matching number and the total number.
The total number of the targets to be measured by the main sensor and the auxiliary sensor is counted, the matching number of the targets to be measured by the main sensor of the vehicle and the auxiliary sensor of the vehicle determined in step S230 is divided by the counted total number, and the dynamic matching proportion between all the targets to be measured by the main sensor and the same targets to be measured by the auxiliary sensor is determined.
And S250, judging whether a recalibration instruction is triggered or not according to the dynamic matching proportion and a preset static matching proportion.
And S260, if the recalibration instruction is triggered, responding to the recalibration instruction, controlling the auxiliary sensor to acquire a first dynamic coordinate of the target to be detected in the auxiliary sensor coordinate system, and controlling the main sensor to acquire a second dynamic coordinate of the target to be detected in the main sensor coordinate system.
And S270, converting the first dynamic coordinate into a main sensor coordinate system to obtain a dynamic conversion coordinate.
Establishing a coordinate conversion relation between the first dynamic coordinate and the main sensor coordinate system,
xr＝xr0+Δx
yr＝yr0+Δy
wherein x isr0And yr0The first dynamic coordinates of the target to be measured are respectively acquired by the auxiliary sensors, and the delta x and the delta y are respectively the horizontal and longitudinal position coordinates of the auxiliary sensors under the main sensor coordinate system (vehicle body coordinate system), and the two are known quantities, xrAnd yrAnd converting the first dynamic coordinate into a dynamic conversion coordinate under a main sensor coordinate system according to the installation position information.
And S280, determining the optimal radial distance proportionality coefficient and the optimal rotation angle between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system based on the dynamic conversion coordinate and the second dynamic coordinate.
And determining a radial scaling factor beta and a rotation angle delta theta corresponding to the projection coordinate of the dynamic conversion coordinate projected to the main sensor coordinate system and the second dynamic coordinate of the target to be measured, which are measured by the main sensor, when the projection coordinate and the second dynamic coordinate satisfy a certain condition, by using the dynamic conversion coordinate converted to the dynamic conversion coordinate in the main sensor coordinate system and the second dynamic coordinate measured by the main sensor in the step S270, and obtaining an optimal radial distance scaling factor and an optimal rotation angle at this time.
Optionally, determining an optimal radial distance proportionality coefficient and an optimal rotation angle between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system includes:
determining a first radial distance and a first angle based on the dynamic transformation coordinates, and determining a second radial distance and a second angle based on corresponding projection coordinates under a main sensor coordinate system;
determining a radial distance scaling factor based on the second radial distance and the first radial distance, and determining a rotation angle based on the second angle and the first angle;
establishing a radial distance proportional coefficient, a radial distance relational expression of the first radial distance and the second radial distance, and establishing an angle relational expression of the rotation angle, the first angle and the second angle;
substituting the radial distance relation and the angle relation into a preset equation;
and when the preset equation takes the minimum value, determining the optimal radial distance proportionality coefficient and the optimal rotation angle.
When determining the optimal radial distance proportionality coefficient and the optimal rotation angle between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate projected to the main sensor coordinate system, firstly, the first dynamic coordinate (x) collected by the auxiliary sensor is usedr0,yr0) Converting into the coordinate system of the main sensor to obtain dynamic conversion coordinates (x)r,yr) Then based on the dynamic transformation of coordinates (x)r,yr) Determining a corresponding first radial distance RrAnd a first angle thetarThe first radial distance formula is:
Figure BDA0002715884810000121
the first angular expression is:
Figure BDA0002715884810000122
determining an expression (x) of corresponding projection coordinates corresponding to the first dynamic coordinates and projected to the main sensor coordinate systemlr,ylr) Determining the second radial distance R corresponding to the projection coordinates based on the expression by the same method as described abovelrAnd a second angle thetalrIt should be noted that, since the expression is used here to determine the corresponding projection coordinate by using the conversion coordinate of the first dynamic coordinate, the corresponding projection coordinate here cannot be directly obtained, but is used for subsequent parameter determination by establishing the expression.
By a second radial distance RlrAt a first radial distance RrDetermines a radial distance scaling factor beta using the second angle thetalrAt a first angle thetarThe rotation angle Δ θ is determined by the difference of (a), it should be noted that all angles provided by the present embodiment are positive in the counterclockwise direction.
Using the determined radial distance scaling factor beta, the first radial distance RrAnd a second radial distance RlrEstablishing a radial distance relation between the three as follows:
Rlr＝βRr
using rotation angle delta theta, first angle thetarTo a second angle thetalrThe angle relation between the three is established as follows:
θlr＝θr+Δθ
FIG. 4 is a schematic diagram of the angular relationship of the principal sensor coordinate system with a positive angle of rotation, see FIG. 4, exemplary, (x)r,yr) Converting the first dynamic coordinate of the target to be measured by the auxiliary sensor into the conversion coordinate of the main sensor coordinate system, wherein the main sensor coordinate system is superposed with the vehicle body coordinate system, and x is measured at the momentr＞0，Δθ＞0, the real scene shown in the figure has only one target, and the measured target has double images due to the installation position deviation of the main sensor and the auxiliary sensor, namely two different targets, thetalr＝θr+Δθ。
FIG. 5 is a schematic representation of the angular relationship of the principal sensor coordinate system with a negative angle of rotation, see FIG. 5, (x)r,yr) Converting the first dynamic coordinate of the target to be measured by the auxiliary sensor into the conversion coordinate of the main sensor coordinate system, wherein the main sensor coordinate system is coincided with the vehicle body coordinate system at the moment, and x is the timerTheta is less than or equal to 0lr＝θr+ Δ θ, wherein Δ θ < 0.
The coordinate of the target to be measured by the auxiliary sensor and the corresponding projection coordinate projected to the coordinate system of the main sensor meet the expression:
xlr＝Rlrcos(θlr)
ylr＝Rlrsin(θlr)
wherein x islrAs abscissa of projected coordinates, ylrAs ordinate of projection, RlrAnd the second radial distance corresponds to the projection coordinate projected to the main sensor coordinate system.
The auxiliary sensor and the main sensor respectively acquire a first dynamic coordinate and a second dynamic coordinate of a plurality of targets to be measured in respective coordinate systems, and a preset equation established by using a projection coordinate corresponding to a conversion coordinate of the first dynamic coordinate and the second dynamic coordinate is as follows:
Figure BDA0002715884810000141
wherein x islr(i)、ylr(i) The first dynamic coordinate of the ith target to be measured in the auxiliary sensor coordinate system, which is measured by the auxiliary sensor, is correspondingly projected to the abscissa, ordinate and x of the projection coordinate in the main sensor coordinate systeml(i)、yl(i) The abscissa and the ordinate of a second dynamic coordinate of the ith target to be measured, which are respectively measured by the main sensor, and n is that of the target to be measuredAnd determining a proper radial distance proportionality coefficient beta and a proper rotation angle delta theta for the projection coordinate and the second dynamic coordinate corresponding to each group of the first dynamic coordinates by traversing all the available values of the radial distance proportionality coefficient and the rotation angle according to the specific coordinates, wherein the delta theta can be an angle between plus or minus 180 degrees.
And determining projection coordinates under a main sensor coordinate system corresponding to the first dynamic coordinate by using the radial distance relation and the angle relation, wherein the relation expression about the radial distance proportionality coefficient beta and the rotation angle delta theta is as follows:
xlr＝βRrcos(θr+Δθ)
ylr＝βRrsin(θr+Δθ)
substituting the relational expression into a preset equation, and determining a radial distance proportionality coefficient beta and a rotation angle delta theta corresponding to the minimum value of the preset equation after the projection coordinate expression is substituted into the preset equation, namely the radial distance proportionality coefficient beta and the rotation angle delta theta are the optimal radial distance proportionality coefficient and the optimal rotation angle, namely the radial distance proportionality coefficient beta and the rotation angle delta theta meet the following requirements:
Figure BDA0002715884810000151
optionally, the optimal radial distance scaling factor and the optimal rotation angle are written into a configuration file, so that the optimal radial distance scaling factor and the optimal rotation angle are called when the conversion relationship between the secondary sensor coordinate system and the primary sensor coordinate system is recalibrated.
And writing the re-determined optimal radial distance proportionality coefficient and the re-determined optimal rotation angle into a configuration file, so that the subsequent direct calling during the re-calibration of the vehicle sensor is facilitated.
S290, based on the optimal radial distance proportion coefficient and the optimal rotation angle, the projection relation between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system is recalibrated, and the dynamic matching proportion between the main sensor of the vehicle and the auxiliary sensor of the vehicle is determined circularly based on the recalibration result.
And re-determining the projection relationship between the measurement coordinates in the auxiliary sensor coordinate system and the corresponding projection coordinates in the main sensor coordinate system by using the optimal radial distance scaling coefficient and the optimal rotation angle determined in the step S280. Acquiring a first dynamic coordinate under an auxiliary sensor coordinate system, converting the first dynamic coordinate into a main sensor coordinate system to obtain a converted coordinate, determining a dynamic projection coordinate corresponding to the converted coordinate by using a recalibrated projection relation, then determining the matching number of different targets to be detected by using the dynamic projection coordinate and a second dynamic coordinate of the same target to be detected acquired by a main sensor under the main sensor coordinate system, determining the dynamic matching proportion at the moment by using the matching number and the total number of the targets to be detected, acquiring the first dynamic coordinate and the second dynamic coordinate once at a preset time interval, and circularly determining the dynamic matching proportion between the target to be detected under the main sensor coordinate system of the vehicle and the target to be detected under the auxiliary sensor coordinate system of the vehicle by using the steps.
Optionally, the preset static projection relation in the static matching proportion determination process may be determined by a method of recalibrating a projection relation between the auxiliary sensor coordinate system and the main sensor coordinate system when the vehicle is moving, that is, acquiring a first static coordinate of a stationary target to be measured by the auxiliary sensor in the auxiliary sensor coordinate system and a second static coordinate of the stationary target to be measured by the auxiliary sensor in the main sensor coordinate system when the vehicle is stationary, and then determining an optimal static radial distance proportionality coefficient and an optimal static rotation angle between the first static coordinate and the static projection coordinate by using the relevant relation in S280, that is, determining the static projection relation.
In the calibration method of the vehicle sensor provided by this embodiment, during a vehicle moving process, the auxiliary sensor of the vehicle is controlled to acquire a third dynamic coordinate of the target to be measured in the auxiliary sensor coordinate system, the main sensor of the vehicle is controlled to acquire a fourth dynamic coordinate of the target to be measured in the main sensor coordinate system, the third dynamic coordinate is projected to the main sensor coordinate system of the vehicle based on a historical calibration result to obtain a fifth dynamic coordinate, the fourth dynamic coordinate is matched with the fifth dynamic coordinate, the matching number is counted to obtain the total number of the targets to be measured, a dynamic matching ratio between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle is determined based on the matching number and the total number, whether a recalibration instruction is triggered or not is determined according to the dynamic matching ratio and a preset static matching ratio, and the first dynamic coordinate is converted into the main sensor coordinate system, the obtained dynamic conversion coordinate determines the optimal radial distance proportion coefficient and the optimal rotation angle between the auxiliary sensor coordinate system and the main sensor coordinate system based on the dynamic conversion coordinate and the second dynamic coordinate, re-calibrates the projection relation between the measurement coordinate under the auxiliary sensor coordinate system and the corresponding projection coordinate under the main sensor coordinate system based on the optimal radial distance proportion coefficient and the optimal rotation angle, and circularly determines the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle based on the re-calibration result, thereby realizing the calibration of the vehicle sensor in the vehicle motion process, ensuring the consistency of the calibration scene and the actual scene, and improving the accuracy of the sensor calibration.
EXAMPLE III
Fig. 6 is a structural block diagram of a calibration apparatus for a vehicle sensor according to a third embodiment of the present invention. The calibration device for the vehicle sensor provided by the embodiment is suitable for the situation of calibrating the vehicle sensor, and specifically can calibrate the vehicle sensor in real time in the vehicle motion process. The calibration method of the vehicle sensor provided by any embodiment of the invention can be realized by applying the calibration device of the vehicle sensor.
As shown in fig. 6, the calibration apparatus for a vehicle sensor includes:
a dynamic matching ratio determining module 310, configured to determine a dynamic matching ratio between a target to be measured by a main sensor of the vehicle and the target to be measured by an auxiliary sensor of the vehicle in a circulating manner during a movement process of the vehicle;
a trigger calibration instruction judgment module 320, configured to judge whether to trigger a recalibration instruction according to the dynamic matching proportion and a preset static matching proportion;
a dynamic coordinate collecting module 330, configured to, if a recalibration instruction is triggered, respond to the recalibration instruction, control the auxiliary sensor to collect a first dynamic coordinate of the target to be detected in an auxiliary sensor coordinate system, and control the main sensor to collect a second dynamic coordinate of the target to be detected in a main sensor coordinate system;
and the recalibration module 340 is configured to recalibrate a projection relationship between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system according to the first dynamic coordinate and the second dynamic coordinate, and cyclically determine a dynamic matching ratio between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle based on a recalibration result.
Optionally, the dynamic matching ratio determining module 310 includes:
the dynamic coordinate acquisition unit is used for controlling an auxiliary sensor of the vehicle to acquire a third dynamic coordinate of the target to be detected in an auxiliary sensor coordinate system and controlling a main sensor of the vehicle to acquire a fourth dynamic coordinate of the target to be detected in a main sensor coordinate system;
the projection unit is used for projecting the third dynamic coordinate to a main sensor coordinate system of the vehicle based on a historical calibration result to obtain a fifth dynamic coordinate;
the matching unit is used for matching the fourth dynamic coordinate with the fifth dynamic coordinate and counting the matching number;
and the dynamic matching proportion determining unit is used for acquiring the total number of the targets to be detected, and determining the dynamic matching proportion between the targets to be detected measured by the main sensor of the vehicle and the targets to be detected measured by the auxiliary sensor of the vehicle based on the matching number and the total number.
Optionally, the process of determining the preset static matching ratio includes:
when the vehicle is static, controlling an auxiliary sensor to acquire a first static coordinate of a static target to be measured in an auxiliary sensor coordinate system, and converting the first static coordinate into a main sensor coordinate system to obtain a static conversion coordinate;
controlling a main sensor to acquire a second static coordinate of the static target to be measured in a main sensor coordinate system;
determining a preset static matching proportion based on the static conversion coordinate, a preset static projection relation and the second static coordinate;
wherein, the number of the static objects to be measured is more than or equal to 3.
Specifically, the recalibrating the projection transformation relationship between the measurement coordinates in the auxiliary sensor coordinate system and the corresponding projection coordinates in the main sensor coordinate system according to the first dynamic coordinates and the second dynamic coordinates comprises:
transforming and projecting the first dynamic coordinate to a main sensor coordinate system to obtain a dynamic transformation projection coordinate;
determining an optimal radial distance proportionality coefficient and an optimal rotation angle between a measurement coordinate under an auxiliary sensor coordinate system and a corresponding projection coordinate under a main sensor coordinate system based on the dynamic conversion projection coordinate and the second dynamic coordinate;
and based on the optimal radial distance proportionality coefficient and the optimal rotation angle, re-calibrating the projection relation between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system.
Optionally, determining the optimal radial distance scaling factor and the optimal rotation angle between the measurement coordinate in the secondary sensor coordinate system and the corresponding projection coordinate in the primary sensor coordinate system includes:
determining a first radial distance and a first angle based on the dynamic conversion coordinates, and determining a second radial distance and a second angle based on corresponding projection coordinates under a main sensor coordinate system;
determining a radial distance scaling factor based on the second radial distance and the first radial distance, and determining a rotation angle based on the second angle and the first angle;
establishing a radial distance relation among the radial distance proportionality coefficient, the first radial distance and the second radial distance, and establishing an angle relation among the rotation angle, the first angle and the second angle;
substituting the radial distance relational expression and the angle relational expression into a preset equation;
and when the preset equation takes the minimum value, determining the optimal radial distance proportionality coefficient and the optimal rotation angle.
Optionally, the optimal radial distance scaling factor and the optimal rotation angle are written into a configuration file, so that when the conversion relationship between the secondary sensor coordinate system and the primary sensor coordinate system is recalibrated, the optimal radial distance scaling factor and the optimal rotation angle are called.
Optionally, the dynamic coordinate acquiring module 330 further includes:
and the abnormity sending module is used for sending abnormity information to the display terminal if the difference value between the static matching proportion and the dynamic matching proportion is greater than the preset value in the preset time interval.
The calibration device of the vehicle sensor provided by the embodiment of the invention is characterized in that a dynamic matching proportion determining module is used for determining the dynamic matching proportion between a target to be measured by a main sensor of the vehicle and the target to be measured by an auxiliary sensor of the vehicle in a circulating manner in the motion process of the vehicle, a calibration command judging module is triggered for judging whether a recalibration command is triggered according to the dynamic matching proportion and a preset static matching proportion, a dynamic coordinate collecting module is used for responding to the recalibration command if the recalibration command is triggered, controlling the auxiliary sensor to collect a first dynamic coordinate of the target to be measured in an auxiliary sensor coordinate system and controlling the main sensor to collect a second dynamic coordinate of the target to be measured in the main sensor coordinate system, and a recalibration module is used for recalibrating the projection relation between a measurement coordinate in the auxiliary sensor coordinate system and a corresponding projection coordinate in the main sensor coordinate system according to the first dynamic coordinate and the second dynamic coordinate And determining the dynamic matching proportion between the main sensor of the vehicle and the auxiliary sensor of the vehicle circularly based on the recalibration result.
The vehicle sensor calibration device provided by the embodiment of the invention can execute the vehicle sensor calibration method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For details that are not described in detail, reference may be made to a method for calibrating a vehicle sensor provided in any embodiment of the present invention.
Example four
Fig. 7 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. FIG. 7 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing any of the embodiments of the present invention. The electronic device 12 shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiment of the present invention.
As shown in FIG. 7, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 that couples the various components (including the memory 28 and the processing unit 16).
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MCA) bus, an enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.
Electronic device 12 typically includes a variety of computer-readable media. Such media may be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 28 may include computer device readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, and commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk-Read Only Memory (CD-ROM), a Digital Video disk (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product 40, with program product 40 having a set of program modules 42 configured to carry out the functions of embodiments of the invention. Program product 40 may be stored, for example, in memory 28, and such program modules 42 include, but are not limited to, one or more application programs, other program modules, and program data, each of which examples or some combination may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, mouse, camera, etc., and display), one or more devices that enable a user to interact with electronic device 12, and/or any devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN), and/or a public Network such as the internet) via the Network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) devices, tape drives, and data backup storage devices, to name a few.
The processor 16 executes programs stored in the memory 28 to execute various functional applications and data processing, for example, to implement the calibration method of the vehicle sensor provided by the above embodiment of the present invention, the method includes:
in the moving process of the vehicle, circularly determining the dynamic matching proportion between the target to be measured by a main sensor of the vehicle and the target to be measured by an auxiliary sensor of the vehicle;
judging whether a recalibration instruction is triggered or not according to the dynamic matching proportion and a preset static matching proportion;
if so, responding to the recalibration instruction, controlling the auxiliary sensor to acquire a first dynamic coordinate of the target to be detected in an auxiliary sensor coordinate system, and controlling the main sensor to acquire a second dynamic coordinate of the target to be detected in a main sensor coordinate system;
and according to the first dynamic coordinate and the second dynamic coordinate, re-calibrating the projection relation between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system, and circularly determining the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle based on the re-calibration result.
Of course, those skilled in the art will appreciate that the processor may also implement the calibration method for the vehicle sensor provided by any of the embodiments of the present invention.
EXAMPLE five
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a calibration method for a vehicle sensor, where the method includes:
in the moving process of the vehicle, circularly determining the dynamic matching proportion between the target to be measured by a main sensor of the vehicle and the target to be measured by an auxiliary sensor of the vehicle;
judging whether a recalibration instruction is triggered or not according to the dynamic matching proportion and a preset static matching proportion;
if so, responding to a recalibration instruction, controlling the auxiliary sensor to acquire a first dynamic coordinate of the target to be detected in the auxiliary sensor coordinate system, and controlling the main sensor to acquire a second dynamic coordinate of the target to be detected in the main sensor coordinate system;
and according to the first dynamic coordinate and the second dynamic coordinate, re-calibrating the projection relation between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system, and circularly determining the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle based on the re-calibration result.
Of course, the computer-readable storage medium provided in the embodiments of the present invention, on which the computer program is stored, is not limited to the above method instructions, and may also execute the calibration method of the vehicle sensor provided in any embodiment of the present invention.
The computer storage media of embodiments of the invention may alternatively be any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor device, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution apparatus, device, or apparatus.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution apparatus, device, or apparatus.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out instructions of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A method for calibrating a vehicle sensor, comprising:
in the moving process of the vehicle, circularly determining the dynamic matching proportion between the target to be measured by a main sensor of the vehicle and the target to be measured by an auxiliary sensor of the vehicle;
judging whether a recalibration instruction is triggered or not according to the dynamic matching proportion and a preset static matching proportion;
if so, responding to the recalibration instruction, controlling the auxiliary sensor to acquire a first dynamic coordinate of the target to be detected in an auxiliary sensor coordinate system, and controlling the main sensor to acquire a second dynamic coordinate of the target to be detected in a main sensor coordinate system;
and recalibrating the projection relation between the measurement coordinates under the auxiliary sensor coordinate system and the corresponding projection coordinates under the main sensor coordinate system according to the first dynamic coordinates and the second dynamic coordinates, and circularly determining the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle based on the recalibration result.
2. The method of claim 1, wherein the determining a dynamic matching ratio between an object under test measured by a primary sensor of the vehicle and an object under test measured by a secondary sensor of the vehicle comprises:
controlling an auxiliary sensor of the vehicle to acquire a third dynamic coordinate of a target to be measured in an auxiliary sensor coordinate system, and controlling a main sensor of the vehicle to acquire a fourth dynamic coordinate of the target to be measured in a main sensor coordinate system;
based on a historical calibration result, projecting the third dynamic coordinate to a main sensor coordinate system of the vehicle to obtain a fifth dynamic coordinate;
matching the fourth dynamic coordinate with the fifth dynamic coordinate, and counting the matching number;
and acquiring the total number of the targets to be detected, and determining the dynamic matching proportion between the targets to be detected measured by the main sensor of the vehicle and the targets to be detected measured by the auxiliary sensor of the vehicle based on the matching number and the total number.
3. The method of claim 1, wherein the recalibrating the projection relationship between the measured coordinates in the secondary sensor coordinate system and the corresponding projected coordinates in the primary sensor coordinate system based on the first dynamic coordinates and the second dynamic coordinates comprises:
converting the first dynamic coordinate into the main sensor coordinate system, and determining a dynamic conversion coordinate;
determining an optimal radial distance proportionality coefficient and an optimal rotation angle between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system based on the dynamic conversion coordinate and the second dynamic coordinate;
based on the optimal radial distance proportionality coefficient and the optimal rotation angle, recalibrating a projection relation between the measurement coordinates in the auxiliary sensor coordinate system and the corresponding projection coordinates in the main sensor coordinate system.
4. The method of claim 3, wherein the determining the optimal radial distance scaling factor and the optimal rotation angle between the measured coordinates in the secondary sensor coordinate system and the corresponding projected coordinates in the primary sensor coordinate system comprises:
determining a first radial distance and a first angle based on the dynamically converted coordinates, and determining a second radial distance and a second angle based on the corresponding projection coordinates in the main sensor coordinate system;
determining a radial distance scaling factor based on the second radial distance and the first radial distance, and determining a rotation angle based on the second angle and the first angle;
establishing a radial distance relation among the radial distance proportionality coefficient, the first radial distance and the second radial distance, and establishing an angle relation among the rotation angle, the first angle and the second angle;
substituting the radial distance relational expression and the angle relational expression into a preset equation;
and when the preset equation takes the minimum value, determining the optimal radial distance proportionality coefficient and the optimal rotation angle.
5. The method of claim 3, further comprising:
and writing the optimal radial distance proportionality coefficient and the optimal rotation angle into a configuration file, so that the optimal radial distance proportionality coefficient and the optimal rotation angle are called when the projection relation between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system is recalibrated.
6. The method according to claim 1, wherein the determining of the preset static matching proportion comprises:
when the vehicle is static, controlling the auxiliary sensor to acquire a first static coordinate of a static target to be measured in the auxiliary sensor coordinate system, and converting the first static coordinate into a static conversion coordinate obtained in the main sensor coordinate system;
controlling the main sensor to acquire a second static coordinate of the static target to be measured in the main sensor coordinate system;
determining the preset static matching proportion based on the static conversion coordinate, a preset static projection relation and the second static coordinate;
and the number of the static targets to be measured is more than or equal to 3.
7. The method of claim 1, wherein if a recalibration command is triggered, further comprising:
and if the difference value between the static matching proportion and the dynamic matching proportion is greater than a preset value within a preset time interval, sending abnormal information to a display terminal.
8. A calibration device for a vehicle sensor, comprising:
the dynamic matching proportion determining module is used for circularly determining the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle in the moving process of the vehicle;
the trigger calibration instruction judging module is used for judging whether to trigger a recalibration instruction according to the dynamic matching proportion and a preset static matching proportion;
the dynamic coordinate acquisition module is used for responding to a recalibration instruction if the recalibration instruction is triggered, controlling the auxiliary sensor to acquire a first dynamic coordinate of the target to be detected in an auxiliary sensor coordinate system and controlling the main sensor to acquire a second dynamic coordinate of the target to be detected in a main sensor coordinate system;
and the recalibration module is used for recalibrating the projection relation between the measurement coordinate in the auxiliary sensor coordinate system and the corresponding projection coordinate in the main sensor coordinate system according to the first dynamic coordinate and the second dynamic coordinate, and circularly determining the dynamic matching proportion between the target to be measured by the main sensor of the vehicle and the target to be measured by the auxiliary sensor of the vehicle based on the recalibration result.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to carry out a method of calibrating a vehicle sensor as claimed in any one of claims 1 to 7.
10. A storage medium containing computer executable instructions for performing a method of calibration of a vehicle sensor as claimed in any one of claims 1 to 7 when executed by a computer processor.
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