CN112835019A - Vehicle sensor calibration method and device, vehicle and storage medium - Google Patents
Vehicle sensor calibration method and device, vehicle and storage medium Download PDFInfo
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The embodiment of the invention provides a vehicle sensor calibration method, a vehicle sensor calibration device, a vehicle and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining first characteristic information of the laser radar for identifying the surrounding environment of the vehicle, obtaining second characteristic information of the sensor for identifying the surrounding environment of the vehicle, and iteratively executing the following processes until an iteration end condition is met: the first characteristic information and the second characteristic information are projected to a coordinate system of the odometer, a first deviation value of the first characteristic information and the second characteristic information projected to the coordinate system of the odometer is obtained, parameters of the sensor are adjusted according to the first deviation value, calibration of the sensor is completed, a calibration mode of the sensor is simplified, a special calibration field is not required to be laid, a user can complete calibration of the sensor only according to scene information in life as characteristic information, and calibration efficiency of the sensor is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle sensor calibration method, a vehicle sensor calibration device, a vehicle and a storage medium.
Background
When the automatic driving sensor is off-line like a millimeter wave radar, a panoramic camera, an automatic driving camera and the like, the sensor is calibrated by using a mode of laying a calibration plate and placing a radiation device on a production line.
However, after the vehicle is sold, if the sensor is replaced, a dedicated calibration site needs to be newly laid, the laying equipment is required to be complicated, the required work hours are long, and the calibration accuracy may be affected by the laying tolerance.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are proposed to provide a vehicle sensor calibration method and a corresponding vehicle sensor calibration apparatus, vehicle, storage medium that overcome or at least partially solve the above problems.
In order to solve the above problem, an embodiment of the present invention discloses a vehicle sensor calibration method, where a coordinate system of a speedometer is established in a vehicle, and the method includes:
acquiring first characteristic information of the laser radar for identifying the surrounding environment of the vehicle;
acquiring second characteristic information of the environment around the vehicle identified by the sensor;
the following process is executed iteratively until an iteration end condition is satisfied:
projecting the first feature information and the second feature information to the odometer coordinate system;
acquiring a first deviation value of the first characteristic information and the second characteristic information projected to the coordinate system of the odometer, and adjusting parameters of the sensor according to the first deviation value;
acquiring new characteristic information of the sensor re-identifying the vehicle surrounding environment after the parameters are adjusted;
acquiring a second deviation value of the first characteristic information projected to the coordinate system of the odometer and the new characteristic information, and judging whether the second deviation value is smaller than a preset threshold value;
and when the second deviation value is smaller than the preset threshold value, determining that the sensor completes calibration.
Preferably, after the obtaining a second deviation value between the first feature information projected to the odometer coordinate system and the new feature information and determining whether the second deviation value is smaller than a preset threshold, the method further includes:
and when the second deviation value is larger than or equal to the preset threshold value, taking the new feature information as second feature information, and returning to perform projection of the first feature information and the second feature information to the odometer coordinate system.
Preferably, the sensor includes a millimeter wave radar, and the acquiring the first characteristic information of the environment around the vehicle by the laser radar includes:
and when the sensor is the millimeter wave radar, the first vehicle position information of the environment around the vehicle is identified by the laser radar and is used as the first characteristic information.
Preferably, the sensor includes a forward-looking camera, and the acquiring the first characteristic information of the environment around the vehicle by the lidar includes:
and when the sensor is the forward-looking camera, the first lane line information of the environment around the vehicle is identified by the laser radar and is used as the first characteristic information.
Preferably, the sensor includes a look-around camera, and the acquiring the first characteristic information of the environment around the vehicle, which is identified by the lidar, includes:
and when the sensor is the all-round-looking camera, the first vehicle location line information of the environment around the vehicle identified by the laser radar is acquired as the first characteristic information.
Preferably, the parameters of the sensor include at least one or a combination of pitch angle, yaw angle, heading angle, offset focal length, optical center, scale factor, distortion.
The embodiment of the invention discloses a vehicle sensor calibration device, wherein a coordinate system of a speedometer is established in a vehicle, and the device comprises:
the first characteristic information acquisition module is used for acquiring first characteristic information of the environment around the vehicle identified by the laser radar;
the second characteristic information acquisition module is used for acquiring second characteristic information of the surrounding environment of the vehicle identified by the sensor;
the characteristic information projection module is used for projecting the first characteristic information and the second characteristic information to the coordinate system of the odometer;
the first deviation value acquisition module is used for acquiring a first deviation value of the first characteristic information and the second characteristic information projected to the odometer coordinate system and adjusting parameters of the sensor according to the first deviation value;
the third characteristic information acquisition module is used for acquiring new characteristic information of the sensor re-identifying the surrounding environment of the vehicle after the parameters are adjusted;
a second deviation value obtaining module, configured to obtain a second deviation value between the first feature information projected to the odometer coordinate system and the new feature information, and determine whether the second deviation value is smaller than a preset threshold;
and the first deviation value judging module is used for determining that the sensor finishes calibration when the second deviation value is smaller than the preset threshold value.
Preferably, after the second deviation value obtaining module, the method further comprises:
and the second deviation value judging module is used for taking the new feature information as second feature information when the second deviation value is larger than or equal to the preset threshold value, and returning to execute the projection of the first feature information and the second feature information to the odometer coordinate system.
Preferably, the sensor includes a millimeter wave radar, and the first characteristic information acquiring module includes:
and the first characteristic information acquisition sub-module is used for acquiring first vehicle position information of the environment around the vehicle identified by the laser radar as the first characteristic information when the sensor is the millimeter wave radar.
Preferably, the sensor includes a forward-looking camera, and the first characteristic information acquisition module includes:
and the second characteristic information acquisition submodule is used for acquiring first lane line information of the laser radar for identifying the surrounding environment of the vehicle as the first characteristic information when the sensor is the forward-looking camera.
Preferably, the sensor includes a look-around camera, and the first characteristic information acquiring module includes:
and the third characteristic information acquisition submodule is used for acquiring first vehicle location line information of the environment around the vehicle identified by the laser radar as the first characteristic information when the sensor is the all-round camera.
Preferably, the parameters of the sensor include at least one or a combination of pitch angle, yaw angle, heading angle, offset focal length, optical center, scale factor, distortion.
The embodiment of the invention discloses a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the vehicle sensor calibration method when being executed by the processor.
The embodiment of the invention discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the vehicle sensor calibration method are realized.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, first characteristic information of the laser radar for identifying the surrounding environment of the vehicle is obtained, second characteristic information of the sensor for identifying the surrounding environment of the vehicle is obtained, and the following processes are executed iteratively until an iteration end condition is met: the first characteristic information and the second characteristic information are projected to a speedometer coordinate system, a deviation value of the first characteristic information and the second characteristic information projected to the speedometer coordinate system is obtained, parameters of the sensor are adjusted according to the deviation value, new characteristic information of the adjusted sensor for re-identifying the surrounding environment of the vehicle is obtained, a second deviation value of the first characteristic information and the new characteristic information projected to the speedometer coordinate system is obtained, whether the second deviation value is smaller than a preset threshold value or not is judged, and when the deviation value of the first characteristic information and the new characteristic information projected to the speedometer coordinate system is smaller than the preset threshold value, the sensor is determined to finish calibration. In the embodiment of the invention, the first characteristic information identified by the laser radar and the second characteristic information acquired by the sensor are projected to the coordinate system of the odometer, then the first deviation value of the first characteristic information and the second characteristic information is acquired, and the sensor to be calibrated is adjusted according to the first deviation value to finish the calibration of the sensor, so that the calibration mode of the sensor is simplified, a special calibration field is not required to be laid, the user can finish the calibration of the sensor only according to the scene information in life as the characteristic information, and the calibration efficiency of the sensor is improved.
Drawings
FIG. 1 is a flow chart illustrating the steps of one embodiment of a method for calibrating vehicle sensors in accordance with the present invention;
FIG. 2 is a schematic diagram of a lidar characteristic information projection of the present invention;
FIG. 3 is a schematic projection diagram of laser radar signature information and sensor information according to the present invention;
FIG. 4 is a schematic projection diagram of calibrated lidar characteristic information and sensor information according to the present invention;
fig. 5 is a block diagram of an embodiment of a vehicle sensor calibration apparatus according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a method for calibrating a vehicle sensor according to the present invention is shown, where in the embodiment of the present invention, the vehicle is established with an odometer coordinate system, and the method specifically includes the following steps:
Specifically, when a user needs to calibrate the sensor, first characteristic information of the environment around the vehicle is obtained through a laser radar on the vehicle, wherein the first characteristic information is easily-recognized landmark information, such as a vehicle location line, a lane line, position information of other vehicles around the vehicle, and the like.
In an embodiment of the present invention, the sensor includes a millimeter wave radar, and the step 101 includes: and when the sensor is the millimeter wave radar, the first vehicle position information of the environment around the vehicle is identified by the laser radar and is used as the first characteristic information.
Specifically, when the sensor is a millimeter wave radar on the vehicle, first vehicle position information of the vehicle in the vehicle surroundings recognized by the laser radar on the vehicle is acquired as the first feature information.
In an embodiment of the present invention, the sensor includes a forward looking camera, and step 101 includes: and when the sensor is the forward-looking camera, the first lane line information of the environment around the vehicle is identified by the laser radar and is used as the first characteristic information.
Specifically, when the sensor is a forward-looking camera on the vehicle, lane line information of the vehicle surroundings recognized by a laser radar on the vehicle is acquired as the first feature information.
In an embodiment of the present invention, the sensor includes a look-around camera, and step 101 includes: and when the sensor is the all-round-looking camera, the first vehicle location line information of the environment around the vehicle identified by the laser radar is acquired as the first characteristic information.
Specifically, when the sensor is a look-around camera on the vehicle, parking space line information of the surrounding environment of the vehicle, which is identified by the laser radar on the vehicle, is acquired as first characteristic information.
And 102, acquiring second characteristic information of the environment around the vehicle identified by the sensor.
Specifically, after first characteristic information of the surrounding environment of the vehicle is acquired through a laser radar on the vehicle, the same characteristic information identified by the laser radar is identified through a sensor as second characteristic information, for example, when the first characteristic information identified by the laser radar is first vehicle position information, the sensor is a millimeter wave radar, and the identified second characteristic information is second vehicle position information;
when the first characteristic information identified by the laser radar is first lane line information, the sensor is a forward-looking camera, and the second characteristic information identified by the laser radar is second lane line information;
when the first characteristic information identified by the laser radar is first vehicle line information, the sensor is a look-around camera, and the second characteristic information identified is second vehicle line information.
In the embodiment of the invention, the millimeter wave radar, the forward-looking camera and the look-around camera on the vehicle are calibrated according to the laser radar, so that various sensors on the vehicle are calibrated and fused without pairwise matching and calibrating of the sensors.
The odometer coordinate system is an absolute coordinate system established by an inertia measuring unit, wheel pulses and the rotating speed of a motor. Specifically, after first characteristic information identified by the laser radar and second characteristic information identified by the sensor are acquired, the first characteristic information identified by the laser radar is converted into a coordinate system of the odometer from a coordinate system of the laser radar, the second characteristic information identified by the sensor is converted into the coordinate system of the odometer from the coordinate system of the sensor, and projection of the first characteristic information and the second characteristic information on the coordinate system of the odometer is completed.
And 104, acquiring a first deviation value of the first characteristic information and the second characteristic information projected to the coordinate system of the odometer, and adjusting parameters of the sensor according to the first deviation value.
Wherein the adjusted parameters of the sensor include at least one or a combination of pitch angle (pitch), yaw angle (roll), yaw angle (yaw), position offset (x, y, z), focal length, optical center, scale factor, distortion.
Specifically, after the first characteristic information recognized by the laser radar and the second characteristic information recognized by the sensor are projected to the odometer coordinate system, a first deviation value between the first characteristic information and the second characteristic information can be obtained according to the positions of the first characteristic information and the second characteristic information in the odometer coordinate system, and parameters of the sensor, such as a pitch angle (pitch), a yaw angle (roll), a course angle (yaw), a position deviation (x, y, z), a focal length, an optical center, a scale factor, distortion and the like, are adjusted according to the first deviation value of the first characteristic information and the second characteristic information, so that the first deviation value of the first characteristic information and the second characteristic information is reduced and approximately consistent, and calibration is completed.
And 105, acquiring new characteristic information of the sensor re-identifying the surrounding environment of the vehicle after the parameters are adjusted.
Specifically, after adjusting the sensed parameters such as pitch angle (pitch), yaw angle (roll), course angle (yaw), position offset (x, y, z), focal length, optical center, scale factor, and distortion according to the deviation value of the first characteristic information and the second characteristic information, new characteristic information identified by the sensor after adjusting the parameters is acquired again.
And 106, acquiring a second deviation value of the first characteristic information projected to the coordinate system of the odometer and the new characteristic information, and judging whether the second deviation value is smaller than a preset threshold value.
Specifically, after the new characteristic information identified by the sensor after the parameter adjustment is acquired again, a second deviation value between the laser radar and the sensor is obtained according to the first characteristic information acquired by the laser radar and the new characteristic information identified by the sensor after the parameter adjustment is acquired again, and whether the second deviation value is smaller than a preset threshold value is judged.
And 107, when the second deviation value is smaller than the preset threshold value, determining that the sensor completes calibration.
Specifically, after acquiring the first characteristic information acquired by the laser radar and re-acquiring the second deviation value of the new characteristic information identified by the adjusted sensor, and determining whether the second deviation value is smaller than the preset threshold, when the second deviation value is smaller than the preset threshold, it is indicated that the error between the sensor and the laser radar is within the allowable range, and the calibration of the sensor is completed.
In an embodiment of the present invention, after the step 106, the method further includes: and when the second deviation value is larger than or equal to the preset threshold value, taking the new feature information as second feature information, and returning to perform projection of the first feature information and the second feature information to the odometer coordinate system.
Specifically, after acquiring the first characteristic information acquired by the laser radar and the second deviation value of the new characteristic information identified by the re-acquired adjusted sensor and determining whether the second deviation value is smaller than the preset threshold, when the second deviation value is greater than or equal to the preset threshold, it indicates that the error between the sensor and the laser radar is large, that is, the calibration of the sensor is not completed, and the step 103 is returned to perform projection of the first characteristic information and the second characteristic information to the odometer coordinate system.
In summary, in the embodiment of the present invention, first characteristic information of the laser radar for identifying the vehicle surroundings is obtained, second characteristic information of the sensor for identifying the vehicle surroundings is obtained, and the following processes are iteratively performed until an iteration end condition is satisfied: the first characteristic information and the second characteristic information are projected to a speedometer coordinate system, a deviation value of the first characteristic information and the second characteristic information projected to the speedometer coordinate system is obtained, parameters of the sensor are adjusted according to the deviation value, new characteristic information of the adjusted sensor for re-identifying the surrounding environment of the vehicle is obtained, a second deviation value of the first characteristic information and the new characteristic information projected to the speedometer coordinate system is obtained, whether the second deviation value is smaller than a preset threshold value or not is judged, and when the deviation value of the first characteristic information and the new characteristic information projected to the speedometer coordinate system is smaller than the preset threshold value, the sensor is determined to finish calibration. In the embodiment of the invention, the first characteristic information identified by the laser radar and the second characteristic information acquired by the sensor are projected to the coordinate system of the odometer, then the first deviation value of the first characteristic information and the second characteristic information is acquired, and the sensor to be calibrated is adjusted according to the first deviation value to finish the calibration of the sensor, so that the calibration mode of the sensor is simplified, a special calibration field is not required to be laid, the user can finish the calibration of the sensor only according to the scene information in life as the characteristic information, and the calibration efficiency of the sensor is improved.
In the embodiment of the invention, the millimeter wave radar, the forward-looking camera and the look-around camera on the vehicle are calibrated according to the laser radar, so that various sensors on the vehicle are calibrated and fused without pairwise matching and calibrating of the sensors.
For better understanding of the embodiment of the present invention, a camera is taken as an example, and reference is made to fig. 2, 3 and 4 for exemplary explanation.
1. When the sensor is a look-around camera, first vehicle location line information identified by the laser radar is acquired as first characteristic information, and the first vehicle location line information of the laser radar is projected into a coordinate system of the odometer, referring to fig. 2, the laser radar characteristic information projection schematic diagram is shown, as can be seen in the drawing, the coordinate system of the odometer is shown in the drawing, and the vehicle laser radar is used for identifying the parking spaces around the vehicle to obtain the first vehicle location line information.
2. After first vehicle location line information identified by the laser radar is acquired as first characteristic information and the first vehicle location line information of the laser radar is projected into a coordinate system of the odometer, second vehicle location line information identified by the look-around camera is acquired as second characteristic information, then, the second position line information of the look-around camera is projected into the coordinate system of the odometer, referring to fig. 3, which is a schematic projection diagram of the laser radar feature information and the sensor feature information (in the figure, the panoramic identification information is the second position line information identified by the look-around camera), as can be seen, in the figure, the coordinate system of the odometer, and identifying the parking spaces around the vehicle by the vehicle laser radar to obtain first parking line information and identifying the parking spaces around the vehicle by the look-around camera to obtain second parking line information at the upper left corner of the coordinate system of the odometer, wherein the first parking line information and the second parking line information have deviation.
3. After the first vehicle line information identified by the laser radar and the second vehicle line information identified by the look-around camera are projected to a coordinate system of the odometer, a deviation value of the first vehicle line and the second vehicle line is obtained, and adjusting parameters of the look-around camera, such as a pitch angle (pitch), a yaw angle (roll), a course angle (yaw), a position offset (x, y, z), a focal length, an optical center, a scale factor, distortion and the like, according to the deviation value, so that the first vehicle line information and the second vehicle line information are identified to be consistent, referring to fig. 4, which is a projection schematic diagram of calibrated laser radar characteristic information and sensor information (the panorama identification information in the diagram is the second vehicle line information identified by the look-around camera), as can be known, and overlapping the second vehicle line information identified by the calibrated all-round camera with the first vehicle line information identified by the laser radar.
4. And if the parameters of the all-round camera are adjusted, the first vehicle line information and the second vehicle line information are not identified and consistent, and the steps 1, 2 and 3 are repeated.
In the embodiment of the invention, the calibration of the panoramic camera is completed by projecting the acquired first vehicle line information identified by the laser radar and the second vehicle line information identified by the panoramic camera to a coordinate system of the odometer, acquiring the deviation value of the first vehicle line information and the second vehicle line information, and adjusting the parameters of the panoramic camera according to the deviation value, so that the calibration mode of the sensor is simplified, a special calibration field is not required to be laid, a user can complete the calibration of the sensor only by using the scene information in life as the characteristic information, and the calibration efficiency of the sensor is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 5, a block diagram of a structure of an embodiment of a vehicle sensor calibration apparatus according to the present invention is shown, in the embodiment of the present invention, the vehicle is established with an odometer coordinate system, which may specifically include the following modules:
a first characteristic information obtaining module 501, configured to obtain first characteristic information that the laser radar identifies the surrounding environment of the vehicle;
a second characteristic information obtaining module 502, configured to obtain second characteristic information that a sensor identifies a surrounding environment of the vehicle;
a feature information projection module 503, configured to project the first feature information and the second feature information to the odometer coordinate system;
a first deviation value obtaining module 504, configured to obtain a first deviation value of the first feature information and the second feature information projected to the odometer coordinate system, and adjust a parameter of the sensor according to the first deviation value;
a third characteristic information obtaining module 505, configured to obtain new characteristic information that the sensor re-identifies the vehicle surroundings after adjusting the parameter;
a second deviation value obtaining module 506, configured to obtain a second deviation value between the first feature information and the new feature information projected to the odometer coordinate system, and determine whether the second deviation value is smaller than a preset threshold;
and a first deviation value judging module 507, configured to determine that the sensor completes calibration when the second deviation value is smaller than the preset threshold.
In an embodiment of the invention, after the second deviation value obtaining module 506, the method further includes:
and the second deviation value judging module is used for taking the new feature information as second feature information when the second deviation value is larger than or equal to the preset threshold value, and returning to execute the projection of the first feature information and the second feature information to the odometer coordinate system.
In an embodiment of the present invention, the sensor includes a millimeter wave radar, and the first characteristic information obtaining module 501 includes:
and the first characteristic information acquisition sub-module is used for acquiring first vehicle position information of the environment around the vehicle identified by the laser radar as the first characteristic information when the sensor is the millimeter wave radar.
In an embodiment of the present invention, the sensor includes a forward-looking camera, and the first feature information obtaining module 501 includes:
and the second characteristic information acquisition submodule is used for acquiring first lane line information of the laser radar for identifying the surrounding environment of the vehicle as the first characteristic information when the sensor is the forward-looking camera.
In an embodiment of the present invention, the sensor includes a look-around camera, and the first characteristic information obtaining module 501 includes:
and the third characteristic information acquisition submodule is used for acquiring first vehicle location line information of the environment around the vehicle identified by the laser radar as the first characteristic information when the sensor is the all-round camera.
In an embodiment of the invention, the parameters of the sensor include at least one or a combination of a pitch angle, a yaw angle, a heading angle, a position offset focal length, an optical center, a scale factor and a distortion.
In summary, in the embodiment of the present invention, first characteristic information of the laser radar for identifying the vehicle surroundings is obtained, second characteristic information of the sensor for identifying the vehicle surroundings is obtained, and the following processes are iteratively performed until an iteration end condition is satisfied: the first characteristic information and the second characteristic information are projected to a speedometer coordinate system, a deviation value of the first characteristic information and the second characteristic information projected to the speedometer coordinate system is obtained, parameters of the sensor are adjusted according to the deviation value, new characteristic information of the adjusted sensor for re-identifying the surrounding environment of the vehicle is obtained, a second deviation value of the first characteristic information and the new characteristic information projected to the speedometer coordinate system is obtained, whether the second deviation value is smaller than a preset threshold value or not is judged, and when the deviation value of the first characteristic information and the new characteristic information projected to the speedometer coordinate system is smaller than the preset threshold value, the sensor is determined to finish calibration. In the embodiment of the invention, the first characteristic information identified by the laser radar and the second characteristic information acquired by the sensor are projected to the coordinate system of the odometer, then the first deviation value of the first characteristic information and the second characteristic information is acquired, and the sensor to be calibrated is adjusted according to the first deviation value to finish the calibration of the sensor, so that the calibration mode of the sensor is simplified, a special calibration field is not required to be laid, the user can finish the calibration of the sensor only according to the scene information in life as the characteristic information, and the calibration efficiency of the sensor is improved.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiment of the invention discloses a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the vehicle sensor calibration method embodiment when being executed by the processor.
The embodiment of the invention discloses a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the embodiment of the vehicle sensor calibration method are realized.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The present invention provides a vehicle sensor calibration method, a vehicle sensor calibration device, a vehicle and a storage medium, which are introduced in detail, and specific examples are applied herein to illustrate the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for vehicle sensor calibration, wherein the vehicle is established with an odometer coordinate system, the method comprising:
acquiring first characteristic information of the laser radar for identifying the surrounding environment of the vehicle;
acquiring second characteristic information of the environment around the vehicle identified by the sensor;
projecting the first feature information and the second feature information to the odometer coordinate system;
acquiring a first deviation value of the first characteristic information and the second characteristic information projected to the coordinate system of the odometer, and adjusting parameters of the sensor according to the first deviation value;
acquiring new characteristic information of the sensor re-identifying the vehicle surrounding environment after the parameters are adjusted;
acquiring a second deviation value of the first characteristic information projected to the coordinate system of the odometer and the new characteristic information, and judging whether the second deviation value is smaller than a preset threshold value;
and when the second deviation value is smaller than the preset threshold value, determining that the sensor completes calibration.
2. The method of claim 1, wherein after the obtaining a second deviation value between the first feature information projected to the odometer coordinate system and the new feature information and determining whether the second deviation value is smaller than a preset threshold, the method further comprises:
and when the second deviation value is larger than or equal to the preset threshold value, taking the new feature information as second feature information, and returning to perform projection of the first feature information and the second feature information to the odometer coordinate system.
3. The method of claim 1, wherein the sensor comprises a millimeter wave radar, and wherein the obtaining first characteristic information that the lidar identifies the vehicle surroundings comprises:
and when the sensor is the millimeter wave radar, the first vehicle position information of the environment around the vehicle is identified by the laser radar and is used as the first characteristic information.
4. The method of claim 1, wherein the sensor comprises a forward looking camera, and the obtaining first characteristic information that the lidar identifies the vehicle surroundings comprises:
and when the sensor is the forward-looking camera, the first lane line information of the environment around the vehicle is identified by the laser radar and is used as the first characteristic information.
5. The method of claim 1, wherein the sensor comprises a look-around camera, and wherein the obtaining first characteristic information that the lidar identifies the environment surrounding the vehicle comprises:
and when the sensor is the all-round-looking camera, the first vehicle location line information of the environment around the vehicle identified by the laser radar is acquired as the first characteristic information.
6. The method according to any one of claims 1 to 5, wherein the parameters of the sensor comprise at least one or a combination of pitch angle, yaw angle, heading angle, offset focal length, optical center, scale factor, distortion.
7. A vehicle sensor calibration apparatus, wherein the vehicle is established with an odometer coordinate system, the apparatus comprising:
the first characteristic information acquisition module is used for acquiring first characteristic information of the environment around the vehicle identified by the laser radar;
the second characteristic information acquisition module is used for acquiring second characteristic information of the surrounding environment of the vehicle identified by the sensor;
the characteristic information projection module is used for projecting the first characteristic information and the second characteristic information to the coordinate system of the odometer;
the first deviation value acquisition module is used for acquiring a first deviation value of the first characteristic information and the second characteristic information projected to the odometer coordinate system and adjusting parameters of the sensor according to the first deviation value;
the third characteristic information acquisition module is used for acquiring new characteristic information of the sensor re-identifying the surrounding environment of the vehicle after the parameters are adjusted;
a second deviation value obtaining module, configured to obtain a second deviation value between the first feature information projected to the odometer coordinate system and the new feature information, and determine whether the second deviation value is smaller than a preset threshold;
and the first deviation value judging module is used for determining that the sensor finishes calibration when the second deviation value is smaller than the preset threshold value.
8. The apparatus of claim 7, wherein the second offset value obtaining module is followed by further comprising:
and the second deviation value judging module is used for taking the new feature information as second feature information when the second deviation value is larger than or equal to the preset threshold value, and returning to execute the projection of the first feature information and the second feature information to the odometer coordinate system.
9. A vehicle comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the computer program, when executed by the processor, performing the steps of a vehicle sensor calibration method as claimed in any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the vehicle sensor calibration method according to any one of claims 1 to 6.
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