CN114442073A - Laser radar calibration method and device, vehicle and storage medium - Google Patents

Laser radar calibration method and device, vehicle and storage medium Download PDF

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Publication number
CN114442073A
CN114442073A CN202210050867.2A CN202210050867A CN114442073A CN 114442073 A CN114442073 A CN 114442073A CN 202210050867 A CN202210050867 A CN 202210050867A CN 114442073 A CN114442073 A CN 114442073A
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China
Prior art keywords
laser radar
angle
vehicle
preset condition
state information
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CN202210050867.2A
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Chinese (zh)
Inventor
张明达
刘涛
周全赟
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Guangzhou Xiaopeng Autopilot Technology Co Ltd
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Guangzhou Xiaopeng Autopilot Technology Co Ltd
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Priority to CN202210050867.2A priority Critical patent/CN114442073A/en
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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

Abstract

The application discloses a laser radar calibration method, a laser radar calibration device, a laser radar calibration vehicle and a laser radar calibration storage medium, wherein the method comprises the steps of obtaining state information of the laser radar calibration vehicle, wherein the state information comprises the speed of the laser radar calibration vehicle and the yaw rate of the laser radar calibration vehicle; if the state information accords with a first preset condition, calibrating a pitch angle and a roll angle of the laser radar; and if the state information accords with a second preset condition, calibrating the yaw angle of the laser radar, wherein the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition. According to the method, the calibration of the laser radar is restrained through the first preset condition and the second preset condition, so that the measured angle information of the laser radar is more accurate, and the accuracy of the calibration of the laser radar can be improved.

Description

Laser radar calibration method and device, vehicle and storage medium
Technical Field
The present disclosure relates to the field of laser radar technologies, and in particular, to a method and an apparatus for calibrating a laser radar, a vehicle, and a storage medium.
Background
At present, the laser radar is a remote sensing means with low cost, good effect and wide application range, is applied to the aspect of automatically driving automobiles, and has the advantages of high resolution, strong active interference resistance, good low-altitude detection performance, light weight, flexibility and the like. The method includes the steps that operation such as obstacle avoidance is achieved based on a laser radar, the laser radar generally obtains coordinate data of an external obstacle, and the coordinate data of the external obstacle in a vehicle coordinate system are obtained according to the position of the laser radar in the vehicle coordinate system. In order to ensure the accuracy of the coordinate information of the external obstacle obtained by the vehicle, the accuracy of the position coordinate of the external obstacle obtained by the laser radar is particularly important.
Disclosure of Invention
In view of the foregoing problems, the present application provides a method and an apparatus for calibrating a laser radar, a vehicle, and a storage medium, so as to implement self-calibration of a laser radar.
In a first aspect, an embodiment of the present application provides a method for calibrating a laser radar, where the method includes: acquiring state information of the vehicle, wherein the state information comprises the speed of the vehicle and the yaw rate of the vehicle; if the state information accords with a first preset condition, calibrating the pitch angle and the roll angle of the laser radar, wherein the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than a first accuracy; and if the state information meets a second preset condition, calibrating the yaw angle of the laser radar, wherein the second preset condition is set according to the state information of the vehicle when the measurement accuracy of the yaw angle of the laser radar is greater than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition.
In a second aspect, an embodiment of the present application provides a calibration apparatus for a laser radar, where the apparatus includes: the device comprises a state acquisition module, a first calibration module and a second calibration module. The state acquisition module is used for acquiring state information of the vehicle, wherein the state information comprises the speed of the vehicle and the yaw rate of the vehicle; the first calibration module is used for calibrating the pitch angle and the roll angle of the laser radar if the state information accords with a first preset condition, and the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than a first accuracy; the second calibration module is used for calibrating the yaw angle of the laser radar if the state information meets a second preset condition, the second preset condition is set according to the state information of the vehicle when the measurement accuracy of the yaw angle of the laser radar is greater than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition.
In a third aspect, an embodiment of the present application provides a vehicle, including: a body, a lidar, one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of lidar calibration provided by the first aspect above.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a program code is stored in the computer-readable storage medium, and the program code may be called by a processor to execute the calibration method for a laser radar provided in the first aspect.
According to the scheme provided by the application, the state information of the vehicle is obtained, and the state information comprises the speed of the vehicle and the yaw rate of the vehicle; if the state information accords with a first preset condition, calibrating the pitch angle and the roll angle of the laser radar, wherein the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than a first accuracy; and if the state information meets a second preset condition, calibrating the yaw angle of the laser radar, wherein the second preset condition is set according to the state information of the vehicle when the measurement accuracy of the yaw angle of the laser radar is greater than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition. According to the method, the parameters corresponding to the laser radar can be calibrated under the condition that the vehicle state meets the corresponding conditions, so that the measured angle information of the laser radar is more accurate, and the accuracy of calibrating the laser radar can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 shows a schematic flowchart of a calibration method for a laser radar according to an embodiment of the present application.
Fig. 2 shows a schematic diagram of a lidar coordinate system and a standard coordinate system in an embodiment of the present application.
Fig. 3 is a schematic flowchart illustrating a calibration method of a lidar according to another embodiment of the present disclosure.
Fig. 4 shows a detailed flowchart of step S230 in another embodiment of the present application.
Fig. 5 shows a detailed flowchart of step S232 in another embodiment of the present application.
Fig. 6 shows a detailed flowchart of step S260 in another embodiment of the present application.
Fig. 7 shows a schematic diagram of the laser radar acquiring the yaw angle in another embodiment of the present application.
Fig. 8 shows a schematic diagram of the laser radar acquiring the yaw angle in another embodiment of the present application.
Fig. 9 shows a schematic flowchart of calibration of a lidar performed in the embodiment of the present application.
Fig. 10 shows a block diagram of a calibration apparatus of a lidar according to an embodiment of the present application.
Fig. 11 shows a block diagram of a vehicle according to an embodiment of the present application.
Fig. 12 shows a block diagram of a computer-readable storage medium provided in an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Laser detection and Ranging, namely Laser detection and Ranging, determines a distance by transmitting and receiving Laser beams and measuring a time difference and a phase difference of Laser signals, measures an angle by horizontal rotation scanning, establishes a two-dimensional polar coordinate system according to the two parameters, and acquires height information in three dimensions by acquiring different pitch angle signals. The high-frequency laser can acquire a large amount (about 150 ten thousand) of position point information (called point cloud) in one second and perform three-dimensional modeling according to the information. The laser radar has the advantages of high resolution, strong active interference resistance, good low-altitude detection performance, lightness, flexibility and the like, and is widely applied to automatic driving automobiles.
In autonomous vehicles, the position of the lidar in the vehicle coordinate system is usually fixed when the vehicle is installed, i.e. the coordinate data of the lidar in the vehicle coordinate system is fixed. The laser radar acquires point cloud information of an environment, coordinate data of surrounding objects in a laser radar coordinate system can be acquired, the vehicle processor can convert the coordinate data of the surrounding objects in the vehicle coordinate system based on the coordinate data acquired by the laser radar and the coordinate data of the laser radar located in the vehicle coordinate system to acquire the coordinate data of the surrounding objects in the vehicle coordinate system, and therefore functions of obstacle avoidance and the like of the vehicle are achieved based on the coordinate data. Therefore, in order to enable the vehicle to acquire the correct coordinate data of the surrounding object, the lidar needs to be calibrated so that the acquired coordinate data of the surrounding object in the lidar coordinate system is correct.
In view of the above problems, the inventors propose a method and an apparatus for calibrating a lidar, a vehicle, and a storage medium according to embodiments of the present application. The specific laser radar calibration method is described in detail in the following embodiments.
The method for calibrating a laser radar provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a calibration method of a laser radar according to an embodiment of the present application. As will be described in detail with respect to the flow shown in fig. 1, the method for calibrating a laser radar may specifically include the following steps:
step S110: state information of the vehicle is acquired, the state information including a speed of the vehicle and a yaw rate of the vehicle.
In the embodiment of the application, the vehicle can enter a self-calibration state for ensuring the calibration accuracy of the laser radar and reducing errors when the running speed, the running direction and the like of the vehicle meet certain conditions, and the laser radar can be more accurately self-calibrated based on the acquired state information of the vehicle. Therefore, the vehicle can acquire the current state information including the running speed of the vehicle and the yaw rate of the vehicle to determine whether the vehicle satisfies the condition of entering the calibration state. The vehicle can obtain the yaw velocity of the vehicle through the laser radar so as to judge whether the driving direction of the vehicle is stable or not; the vehicle also needs to keep the running speed above a certain value so as to ensure the accuracy of the calibration of the laser radar.
It is understood that the yaw rate of the vehicle is a value obtained by differentiating the yaw angle acquired by the laser radar with respect to time, and the error in the yaw angle due to the offset that may exist in the laser radar can be eliminated by confirming the traveling direction of the vehicle using the yaw rate instead of the yaw angle. The magnitude of the yaw rate may be used to indicate the rate of change in the forward direction of the vehicle, and if the yaw rate is zero, it may be understood that the vehicle is not changing the direction of travel of the vehicle. Even if the laser radar has bias and the measuring result of the yaw angle is not zero at the moment, the yaw velocity is zero as long as the vehicle does not change the traveling direction of the vehicle.
The calibration of the laser radar by the vehicle comprises the calibration of three angle information of a pitch angle, a roll angle and a yaw angle of the laser radar, so that the three angles corresponding to the calibrated laser radar coincide with a standard angle, namely, a coordinate system of the laser radar coincides with a standard coordinate system. It can be understood that the standard coordinate system, that is, the coordinate system with no deviation in each angle, may be converted into coordinate information of the external obstacle in the vehicle coordinate system based on coordinate information of the external obstacle in the standard coordinate system, and then perform operations such as obstacle avoidance or navigation based on the coordinate information. The calibrated laser radar can acquire coordinate information of objects around the vehicle in a laser radar coordinate system, and the vehicle can convert the measured coordinate information into coordinate information in the vehicle coordinate system based on the position of the laser radar in the vehicle coordinate system, so that obstacle identification, direction identification and other operations are performed. If the coordinate system of the laser radar deviates from the standard coordinate system, the coordinate information of the surrounding objects identified by the laser radar does not accord with the actual coordinate information, and the vehicle performs navigation or performs obstacle avoidance operation based on wrong coordinate information, so that great potential safety hazards exist, and therefore the vehicle needs to perform self-calibration on the laser radar under the condition that the state information meets the preset condition, so as to ensure the accuracy of the laser radar.
In some embodiments, as shown in fig. 2, the yaw angle of the lidar may refer to an angle between a driving direction of the vehicle in a horizontal plane and a straight line of an X axis in a lidar coordinate system, i.e., an angle between the X axis in the lidar coordinate system and an XOZ plane in a vehicle coordinate system, the pitch angle may be an angle between a straight line of the X axis in the lidar coordinate system and an XOY plane in the vehicle coordinate system, and the roll angle may be an angle between a Y axis in the lidar coordinate system and an XOY plane in the vehicle coordinate system. If the laser radar has no angle deviation, that is, the laser radar coordinate system OX ' Y ' Z ' coincides with the standard coordinate system xyz, the corresponding yaw angle, pitch angle and roll angle of the laser radar should be zero. Of course, the definitions of yaw, pitch and roll for a lidar may be different, but their characterization in a coordinate system should be the same.
In some embodiments, the vehicle may obtain the current vehicle speed through a built-in formula calculation by obtaining the wheel speed of the vehicle. The sensor in which the wheel speed is obtained may be a hall sensor.
Step S120: and if the state information accords with a first preset condition, calibrating the pitch angle and the roll angle of the laser radar, wherein the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than a first accuracy.
In the embodiment of the application, the first preset condition is a condition for judging whether the current state of the vehicle can meet the requirement of accurately calibrating the roll angle and the pitch angle of the laser radar, that is, if the current state information of the vehicle meets the first preset condition, the accuracy of calibrating the laser radar by obtaining the pitch angle and the roll angle of the laser radar is higher. The limitation on the state information of the vehicle in the first preset condition may be obtained through an actual experiment, and specifically, in the experiment, when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than the first accuracy, the state information corresponding to the vehicle at this time may be used as the first preset condition. When the laser radar of the vehicle needs to be calibrated, the state information of the vehicle meets a first preset condition, and then the calibration of the pitch angle and the roll angle has higher accuracy. And the first accuracy can be preset, and the higher the first accuracy is, the more accurate the calibration of the pitch angle and the roll angle of the laser radar is. The first preset condition can limit the current running speed, the yaw rate and other states of the vehicle, namely only if the current running speed and the yaw rate of the vehicle accord with the first preset condition, and the result of calibrating the pitch angle and the roll angle of the laser radar can be accurate. The vehicle can calibrate the pitch angle and the roll angle of the laser radar at the same time, namely the method for acquiring the pitch angle and the roll angle of the laser radar by the vehicle is the same as the method for acquiring the yaw angle of the laser radar by the vehicle and is different from the method for acquiring the yaw angle of the laser radar by the vehicle. Therefore, if the state information of the vehicle meets the first preset condition, the vehicle can calibrate the laser radar based on the pitch angle and the roll angle acquired by the laser radar.
From the above analysis, if the lidar has no offset, that is, the lidar coordinate system coincides with the standard coordinate system, the measured pitch angle and roll angle corresponding to the lidar should be zero. If the pitch angle or the roll angle is not zero, the angle information of the laser radar can be compensated based on the measured angle. Referring to fig. 2, the standard coordinate system is the xyz coordinate system, and the biased lidar coordinate system is the OX ' Y ' Z ' coordinate system. Assuming that the pitch angle measurement angle of the laser radar is 5 degrees, it indicates that the laser radar coordinate system is not coincident with the standard coordinate system at the moment and an included angle of 5 degrees is formed between the XOY plane in the laser radar coordinate system and the XOY plane in the standard coordinate system, and at the moment, angle compensation can be performed on the laser radar so that the XOY plane in the laser radar coordinate system is coincident with the XOY plane in the standard coordinate system.
In some embodiments, the first preset condition may not only define the state information of the vehicle, i.e. the driving speed and the yaw rate, but also define the current environment of the vehicle, including the flatness of the current road section, the distance from the leading vehicle, the light intensity in the environment, and the like, so that the vehicle can calibrate the lidar more accurately. The vehicle can acquire brightness information in the environment through the vehicle-mounted sensor, and can also acquire the distance between the vehicle and a front vehicle through the vehicle-mounted distance sensor and the like.
Step S130: and if the state information meets a second preset condition, calibrating the yaw angle of the laser radar, wherein the second preset condition is set according to the state information of the vehicle when the measurement accuracy of the yaw angle of the laser radar is greater than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition.
In the embodiment of the application, a second preset condition is used for judging whether the current state of the vehicle meets a condition for calibrating the yaw angle of the laser radar, wherein the limit on the yaw angle of the vehicle in the second preset condition is more strict than the limit on the yaw angle of the vehicle in the first preset condition, namely the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition. The definition of the state information of the vehicle in the second preset condition is similar to the first preset condition, and in the experiment, when the measuring accuracy of the yaw angle of the laser radar is greater than the second accuracy, the state information corresponding to the vehicle at the moment can be used as the second preset condition. When the vehicle needs to calibrate the laser radar, the state information of the laser radar meets the second preset condition, and therefore the calibration of the yaw angle can be highly accurate. It can be understood that the second accuracy can be preset, and the higher the second accuracy is, the more accurate the calibration of the yaw angle of the laser radar is. If the state information of the vehicle meets the second preset condition, the vehicle can calibrate the laser radar based on the measured yaw angle of the laser radar. It can be understood that if the state information of the vehicle conforms to the second preset condition, the state information of the vehicle at this time necessarily conforms to the first preset condition, and therefore the vehicle can calibrate not only the yaw angle of the laser radar but also the pitch angle and the roll angle of the laser radar.
According to the analysis, the yaw angle is the included angle between the X axis in the laser radar coordinate system and the YOZ plane in the vehicle coordinate system, wherein the laser radar can take the included angle between the driving direction of the vehicle and the central axis of the laser radar as the corresponding yaw angle. In actual operation, the laser radar acquires the vehicle driving direction by acquiring a lane line vector, namely the laser radar takes the lane line vector as the driving direction of the vehicle. It will be appreciated that this substitution must be made with the direction of travel of the vehicle and the direction of the lane line completely coincident. Thus, the vehicle can confirm whether or not the traveling direction of the vehicle coincides with the lane line vector based on the magnitude of the yaw rate in the state information, and the smaller the yaw rate, the smaller the degree of change in the traveling direction of the vehicle, and the more accurate the lane line vector is as the traveling direction of the vehicle.
It can be understood that if the yaw velocity of the vehicle at a certain time is larger, it indicates that the driving direction of the vehicle at that time changes, and if the obtained lane line vector is taken as the driving direction of the vehicle, not only there is no substitution, but also an included angle is necessarily present between the central axis of the laser radar and the lane line vector at that time, and the included angle is not necessarily caused by the offset of the laser radar. If the corresponding yaw velocity of the vehicle is small, the vehicle can be regarded as straight-line running, at this time, the lane line vector is taken as the running direction of the vehicle, and the accuracy is high, and at this time, if the yaw angle measured by the laser radar is not zero, the angle is inevitably caused by the bias of the laser radar. Therefore, when the state information of the vehicle meets the second preset condition, the laser radar can be calibrated based on the obtained yaw angle.
In some embodiments, the vehicle may obtain a mean value of the yaw angle of the lidar for a period of time during which the state information meets the second predetermined condition, and calibrate the lidar based on the mean value. Once the driving direction of the vehicle deviates at any time within the time period, the distance between the vehicle and the lane line changes, that is, the yaw rate corresponding to the vehicle changes greatly, the yaw angle data of the laser radar obtained within the time period is invalid, timing that the vehicle state information meets the second preset condition can be restarted, when the duration that the vehicle state information meets the second preset condition meets the preset time period, the average yaw angle value of the laser radar obtained within the time period can be used as an effective yaw angle, and the vehicle can calibrate the laser radar based on the effective yaw angle.
According to the laser radar calibration method provided by the embodiment of the application, by obtaining the state information such as the speed and the yaw rate of the vehicle, if the state information accords with a first preset condition, the pitch angle and the roll angle of the laser radar are calibrated, and if the state information accords with a second preset condition, the yaw rate of the laser radar is calibrated, wherein the yaw rate in the second preset condition is smaller than the yaw rate in the first preset condition. According to the method, the parameters corresponding to the laser radar are calibrated under the condition that the vehicle state meets the corresponding conditions, so that the measured angle information of the laser radar is more accurate, and the accuracy of calibrating the laser radar can be improved.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a calibration method of a lidar according to another embodiment of the present disclosure. As will be described in detail with respect to the flow shown in fig. 3, the method for calibrating a laser radar may specifically include the following steps:
step S210: state information of the vehicle is acquired, the state information including a speed of the vehicle and a yaw rate of the vehicle.
In the embodiment of the present application, step S210 may refer to the contents of other embodiments, which are not described herein again.
In some embodiments, before the vehicle acquires the state information, the current environment of the vehicle may be determined, and it is determined whether the surrounding environment is suitable for self-calibration of the laser radar. If the vehicle confirms that the laser radar can be calibrated by itself, the vehicle can send a calibration signal to the laser radar to indicate the laser radar to enter a calibration state, wherein the calibration state means that the angle information of the laser radar can be adjusted.
In some embodiments, the vehicle may obtain information about the environment in which the vehicle is located through a series of sensors to determine whether the lidar is currently capable of performing the calibration state. Specifically, it is possible to confirm that the distance is kept within an appropriate range by measuring the distance to the surrounding vehicle; the brightness in the current environment can be acquired through the brightness sensor, and whether the brightness is enough to support entering the calibration state or not can be acquired. If the surrounding environment information acquired by the vehicle through the sensor meets the preset condition, the laser radar can automatically enter a calibration state. And then, whether the first preset condition and the second preset condition are met is further judged according to the state information of the vehicle, and then all angle information of the laser radar is calibrated.
In some embodiments, the vehicle may obtain the calibration signal through an externally connected calibration tool, and then instruct the laser radar to enter the calibration state, and the calibration tool may send the calibration signal to the vehicle according to an operation of a user. At the moment, the laser radar can measure the yaw velocity of the vehicle so as to judge whether the state information of the vehicle meets the preset condition.
Step S220: and if the state information accords with the first preset condition, acquiring the pitch angle and the roll angle of the laser radar, and acquiring the duration of the state information according with the first preset condition.
In the embodiment of the application, the driving speed of the vehicle can be limited within a range of more than or equal to 50 kilometers per hour (km/h) in the first preset condition, so that inaccurate measurement on the pitch angle and the roll angle of the laser radar caused by too small speed is avoided; the yaw rate of the vehicle can be limited within a range of less than 2 degrees per second (degree/s) to avoid inaccurate measurement of the pitch angle and the roll angle of the laser radar caused by the fact that the vehicle changes the driving direction, wherein the smaller the yaw rate, the more stable the vehicle is represented to be driven, and the more accurate the measured angle information is. When the state information of the vehicle accords with a first preset condition, the measurement accuracy of the pitch angle and the roll angle of the laser radar is higher than a first accuracy, the laser radar can be calibrated based on the pitch angle and the roll angle obtained by measurement, and the calibration result has higher accuracy.
Step S230: if the duration is greater than or equal to a first time length, calibrating the pitch angle and the roll angle of the laser radar based on the acquired pitch angle and roll angle, wherein the first time length is the effective continuous time length of the pitch angle and the roll angle.
In the embodiment of the application, the laser radar can obtain a plurality of point cloud maps every second, each point cloud corresponds to the state information of the vehicle, namely the running speed and the yaw rate of the vehicle, and if the vehicle state information corresponding to the point cloud meets a first preset condition, the point cloud is regarded as an effective point cloud. If the vehicle state information corresponding to each point cloud acquired by the laser radar in a period of time meets the first preset condition, the vehicle can regard the period of time as an effective period of time, determine the pitch angle and the roll angle corresponding to the effective period of time as effective, and realize the calibration of the laser radar based on the pitch angle and the roll angle of the laser radar acquired by the point cloud data in the period of time. Therefore, the vehicle can acquire the duration that the state information of the vehicle meets the first preset condition, and if the duration is greater than or equal to the first time length, the vehicle can calibrate the laser radar based on the pitch angle and the roll angle of the laser radar acquired in the duration. If the duration that the vehicle state information meets the first preset condition is longer than or equal to the first time length, it is indicated that the driving state of the vehicle is stable at the moment, and the pitch angle and the roll angle of the laser radar can be calibrated based on the acquired pitch angle and roll angle.
In some embodiments, the vehicle may acquire angle information of a plurality of sets of lidar within a duration, and when the lidar is calibrated, the angle information may be screened, or an angle average value may be calculated, and the lidar may be updated based on the finally acquired angle information, which may effectively reduce errors.
In some embodiments, as shown in fig. 4, calibrating the pitch angle and the roll angle of the lidar in step S230 may include the following steps:
step S231: and acquiring a ground normal vector based on a ground detection algorithm.
In the embodiment of the application, the method for acquiring the pitch angle and the roll angle of the laser radar can be obtained by converting the acquired ground normal vector. Based on a ground detection algorithm, namely, based on ground detection of plane fitting, the laser radar can acquire a ground normal vector of a current vehicle passing through a road surface, and is used for acquiring a pitch angle and a roll angle of the laser radar based on the ground normal vector. It can be understood that if there is angular deviation in the lidar, namely there is a deviation between the lidar coordinate system and the standard coordinate system, then there will also be angular deviation between the ground normal vector that the lidar obtained and the actual standard normal vector, and the vehicle can acquire this angular deviation and be used for changing it into lidar's pitch angle and roll angle, and then mark the lidar.
Step S232: and calibrating the pitch angle and the roll angle of the laser radar based on the ground normal vector.
In the embodiment of the application, after the vehicle acquires the ground normal vector, the ground normal vector can be converted into the pitch angle and the roll angle corresponding to the laser radar, and the laser radar is calibrated based on the acquired pitch angle and roll angle. It can be understood that if the laser radar is biased, and the pitch angle or the roll angle of the laser radar deviates from a standard value, an included angle is inevitably formed between the obtained ground normal vector and the normal phasor which is actually obtained, and at the moment, the vehicle can calibrate the pitch angle and the roll angle of the laser radar based on the ground normal vector. The ground normal vector can only calibrate the pitch angle and the roll angle of the laser radar, but cannot calibrate the yaw angle of the laser radar. That is, if there is an offset in the yaw angle of the lidar, the offset cannot be reflected on the normal vector of the ground acquired by the lidar.
In some embodiments, the vehicle may use a normal vector (N)x，Ny，Nz) Regarding as a normal vector in the horizontal plane, i.e., vector (0,0,1), based on the obtained ground normal vector (N)x′,Ny′,Nz') and the following formula, angle data of the pitch angle (pitch) and roll angle (roll) of the lidar are obtained:
Nx′＝sin(pitch(rad))
Ny′＝-sin(roll(rad))×cos(pitch(rad))
Nz′＝cos(roll(rad))×cos(pitch(rad))
in some embodiments, as shown in fig. 5, calibrating the pitch angle and the roll angle of the lidar based on the ground normal vector in step S232 may include the following steps:
step S2321: and acquiring an included angle between the ground normal vector and a standard normal vector as a first included angle, wherein the standard normal vector is the ground normal vector in a preset state, and the preset state is that the ground normal vector is parallel to a horizontal plane normal vector.
In some embodiments, after the vehicle acquires the ground normal vector measured by the laser radar, the vehicle may use the angle between the ground normal vector and the standard normal vector as the first angle. The standard normal vector is a ground normal vector in a preset state, namely, the normal vector of the ground is parallel to the horizontal plane, and the standard normal vector can also be understood as a vector parallel to the horizontal plane normal vector. As seen in the coordinate system, the normal vector may be a normal vector corresponding to the XOY plane in the standard coordinate system, that is, a vector (0,0,1), and the standard coordinate system is a coordinate system corresponding to the laser radar without bias. The vehicle can regard the included angle between the ground normal vector and the standard normal vector as a first included angle based on the standard normal vector, and the included angle is used for calibrating the angle information of the laser radar based on the first included angle. It can be understood that if laser radar self has the offset, laser radar's coordinate system and standard coordinate system are misaligned, then the first contained angle that the vehicle was obtained is nonzero, can convert first contained angle into the pitch angle and the roll angle that laser radar corresponds this moment for pitch angle and roll angle to laser radar compensate.
Step S2322: and calibrating the pitch angle and the roll angle of the laser radar based on the first included angle.
In some embodiments, after obtaining the first included angle, the vehicle may convert the first included angle into a pitch angle and a roll angle corresponding to the laser radar, and according to the analysis of the foregoing embodiment, the first included angle may be converted into a pitch angle between an X axis in a laser radar coordinate system and an XOY plane in a standard coordinate system, and a roll angle between a Y axis in the laser radar coordinate system and the XOY plane in the standard coordinate system. If the first included angle is not zero, the pitch angle or the roll angle corresponding to the laser radar is not zero, that is, the pitch angle or the roll angle corresponding to the laser radar has deviation. At the moment, the pitch angle and the roll angle obtained based on the first included angle are offset angles existing in the laser radar, so that the vehicle can compensate the laser radar based on the pitch angle and the roll angle, a ground normal vector in the environment acquired by the compensated laser radar can be coincided with a standard normal vector, and errors generated by laser radar offset are eliminated.
Step S240: and if the duration is greater than or equal to a second time length, determining that the calibration is finished, wherein the second time length is greater than the first time length, and the second time length is the continuous time length for determining that the calibration is effective.
In the embodiment of the application, the vehicle may calibrate the laser radar based on the acquired pitch angle and roll angle when the duration is greater than or equal to the first time length in order to ensure that the laser radar is accurately calibrated, and the vehicle may repeat the calibration step after once calibrating the pitch angle and roll angle of the laser radar, that is, repeat the step of acquiring the pitch angle and roll angle when the duration is greater than or equal to the first time length, and calibrate the laser radar until the total length of the duration is greater than or equal to the second time length, and then at this time, the calibration of the pitch angle and roll angle of the laser radar may be regarded as effective calibration. It is apparent that the second length of time is greater than the first length of time. Repeated steps can further improve the accuracy of laser radar self-calibration, and can effectively avoid the condition that errors occur when the pitch angle and the roll angle of the laser radar are calibrated at any time.
Specifically, each pair of laser radars is calibrated once, the duration that the state information of the vehicle meets the first preset condition is necessarily greater than or equal to the first time length, and at this time, the vehicle can use the angle information of the laser radars acquired within the first time length as a set of effective data to perform self-calibration on the laser radars based on the set of effective data. Meanwhile, the vehicle can acquire multiple groups of effective data, the duration corresponding to each group of effective data can be discontinuous, and the vehicle can calibrate the laser radar for multiple times based on the multiple groups of effective data so as to reduce errors and improve the self-calibration accuracy of the laser radar. If the total length of the duration time corresponding to the multiple groups of effective data is greater than the second time length, the vehicle can determine that the calibration of the pitch angle and the roll angle of the laser radar is completed.
Step S250: and if the state information meets a second preset condition, acquiring the yaw angle of the laser radar, and acquiring the duration of the state information meeting the second preset condition.
In the embodiment of the present application, the driving speed of the vehicle may be limited to be greater than or equal to 50 kilometers per hour (km/h) in the second preset condition, so as to avoid inaccurate measurement of the yaw angle of the laser radar due to too low speed; the yaw rate of the vehicle can also be limited to a range of less than 0.5 degrees per second (degree/s) to avoid inaccurate lidar yaw angle measurements caused by the vehicle changing direction of travel. Wherein, the smaller the yaw velocity of the vehicle is, the more stable the vehicle is running, and the more accurate the measured angle information is. Namely, when the state information of the vehicle meets the second preset condition, the measuring accuracy rate of the yaw angle of the laser radar is greater than the second accuracy rate, the laser radar can be calibrated based on the measured yaw angle, and the calibration result has greater accuracy.
Specifically, the laser radar can obtain a plurality of point cloud images per second, the vehicle can judge whether the point cloud is effective or not based on the state information corresponding to each point cloud, namely, if the state information of the vehicle corresponding to the point cloud meets a second preset condition, the point cloud is used as an effective point cloud, and the vehicle can obtain the yaw angle of the laser radar based on the continuous effective point cloud for calibrating the laser radar. Therefore, the vehicle can acquire the duration that the state information meets the second preset condition, namely when the effective point clouds continuously exceed a certain number, the yaw angle data of the laser radar are acquired based on the continuous point clouds. For example, if the laser radar can obtain 10 pieces of point cloud data per second, and the duration that the state information of the vehicle meets the second preset condition is 6s, the laser radar can obtain 60 continuous pieces of point cloud data within the 6s, and since the state information of the vehicle corresponding to the 60 pieces of point cloud all meets the second preset condition, the vehicle can obtain the yaw angle corresponding to the laser radar based on the 60 pieces of point cloud at this time, it is obvious that the obtained yaw angle of the laser radar has accuracy, and the offset degree of the yaw angle of the laser radar can be reflected, so the vehicle can calibrate the laser radar based on the obtained yaw angle.
Step S260: and if the duration is greater than or equal to a third time length, calibrating the yaw angle of the laser radar based on the obtained yaw angle, wherein the third time length is the continuous time length for determining the effective yaw angle.
In the embodiment of the application, when the duration that the state information of the vehicle meets the second preset condition is longer than or equal to the third duration, the duration may be regarded as an effective duration, and the yaw angle data acquired by the vehicle in the third duration may be used as effective data to calibrate the yaw angle of the laser radar. The effective data of the yaw angle refers to an included angle between the vehicle driving direction and the center of the optical axis, which is acquired by the laser radar in the third time length.
In some embodiments, as shown in fig. 6, calibrating the yaw angle of the lidar in step S260 may include the following steps:
step S261: and acquiring an included angle between the lane line vector and the vehicle advancing direction vector as a second included angle.
In the embodiment of the application, the vehicle can obtain the lane line information in the driving process of the vehicle by using the laser radar, the lane line is fitted by a least square method through extracting set or physical characteristics, and the accuracy of the identified lane line is higher. The laser radar can detect a lane line vector in each frame of acquired point cloud, as shown in fig. 7, from a top view, lane line information acquired by each frame of the laser radar is a black circle, if the laser radar has no offset, the lane line vector is taken as a driving direction of a vehicle, the detected driving direction of the vehicle is parallel to the center of an optical axis of the laser radar, and namely a yaw angle is zero; if the laser radar has offset, as shown in fig. 8, the state information of the vehicle at this time meets the second preset condition, which indicates that the driving direction of the vehicle is the same as the lane line vector, but because the laser radar has offset, the optical axis center of the laser radar is not parallel to the driving direction of the vehicle, an included angle, i.e., an angle offset in the figure, is formed between the optical axis center and the detected lane line vector, and the angle offset is the offset angle of the yaw angle of the laser radar.
Step S262: and calibrating the yaw angle of the laser radar based on the second included angle.
In the embodiment of the present application, after the vehicle acquires the second included angle based on the lane line vector, the yaw angle of the laser radar may be compensated based on the second included angle, so that the optical axis center of the laser radar is the same as the traveling direction of the vehicle. After the offset angle of the laser radar is calibrated, the coordinate data of the external obstacle obtained by the laser radar can be accurately utilized and then converted into coordinate data in a vehicle coordinate system, so that the functions of obstacle avoidance and the like of the vehicle are realized.
Step S270: and if the duration is greater than or equal to a fourth time length, determining that the calibration is completed, wherein the fourth time length is greater than the third time length, and the fourth time length is a continuous time length for determining that the calibration is effective.
In this embodiment of the application, as described in the above step, in order to ensure the accuracy of calibrating the yaw angle of the laser radar, the vehicle may calibrate the yaw angle of the laser radar multiple times, specifically, if the duration that the state information of the vehicle meets the second preset condition is greater than or equal to the third time length, the vehicle may use the yaw angle data of the laser radar obtained within the third time length as effective data, calibrate the laser radar based on the effective data, and then may obtain a plurality of effective data, where each effective data may calibrate the laser radar, so as to improve the accuracy of calibrating the laser radar. And if the total time length corresponding to the effective data is longer than the fourth time length, the vehicle determines that the calibration of the yaw angle of the laser radar is completed, namely the fourth time length is the time length for determining the calibration of the yaw angle of the laser radar, and obviously the fourth time length is longer than the third time length corresponding to each effective data.
For example, the corresponding relationship between the state information of the vehicle and the angle to be calibrated of the laser radar is shown in the following table:
speed of rotation>50 km/h
Yaw rate<2 degree per second To pitch angle and roll angle calibration
Yaw rate<0.5 degree per second Calibration of yaw angle
After the laser radar enters the calibration state, whether the laser radar is calibrated based on the angle information acquired by the laser radar can be determined based on the state information of the vehicle, namely the driving speed of the vehicle and the yaw rate of the vehicle. If the state information of the vehicle meets a first preset condition, namely the speed of the vehicle is greater than 50 kilometers per hour (km/h), and the yaw rate of the vehicle is less than 2 degrees per second (degree/s), the vehicle can calibrate the pitch angle and the roll angle of the laser radar; if the state information of the vehicle meets a second preset condition, namely the speed of the vehicle is greater than 50 kilometers per hour (km/h), and the yaw rate of the vehicle is less than 0.5 degree per second (degree/s), the vehicle can calibrate the yaw angle of the laser radar, and meanwhile, because the state information of the vehicle also meets the first preset condition, the pitch angle and the roll angle of the laser radar can also be calibrated.
In some embodiments, the first time length and the third time length may be the same 5 seconds, and the second time length and the fourth time length may be the same 2 minutes, but since the effective data for calibrating the pitch angle and the roll angle of the lidar is different from the screening criteria of the effective data for calibrating the yaw angle of the lidar, that is, the yaw rate in the vehicle state information corresponding to the effective data for calibrating the yaw angle of the lidar is smaller, there may be a certain road segment whose corresponding pitch angle and roll angle can calibrate the lidar, but whose corresponding yaw angle cannot calibrate the lidar.
It can be understood that, in the process of calibrating the laser radar, the same calibration method is adopted for calibrating the pitch angle and the roll angle of the laser radar, and another calibration method is adopted for the yaw angle of the laser radar, so that in the embodiment of the application, the calibration of the pitch angle and the roll angle of the laser radar and the calibration of the yaw angle of the laser radar do not have a forward-backward bearing relationship.
According to the calibration method of the laser radar, the state information of the vehicle is obtained, and the state information comprises the speed of the vehicle and the yaw rate of the vehicle; if the state information accords with a first preset condition and the duration is greater than or equal to a first time length, calibrating the pitch angle and the roll angle of the laser radar by the acquired pitch angle and roll angle, and determining that the calibration of the pitch angle and the roll angle is finished when the duration is greater than or equal to a second time length; if the state information meets a second preset condition and the duration is greater than or equal to a third time length, calibrating the yaw angle of the laser radar by using the acquired yaw angle, and determining that the calibration of the yaw angle is completed when the duration is greater than or equal to a fourth time length. The method can accurately perform self-calibration on the laser radar device in the vehicle, and improve the robustness of the self-calibration.
As shown in fig. 9, in the calibration method for a laser radar provided in the embodiment of the present application, the overall process may be as follows: the method comprises the steps that a vehicle obtains self state information which comprises the running speed of the vehicle and the yaw velocity of the vehicle, whether the state information of the vehicle meets a calibration access condition or not is judged, if the state information of the vehicle meets the calibration access condition, a follow-up action of calibrating a laser radar can be executed, and if the state information of the vehicle does not meet the calibration access condition, the step of obtaining the state information of the vehicle is returned until the state information of the vehicle meets the calibration access condition. If the vehicle state information meets the access condition, the vehicle can calibrate the pitch angle and the roll angle of the laser radar based on a ground detection algorithm, and can calibrate the yaw angle of the laser radar based on a lane line detection result.
Referring to fig. 10, a block diagram of a calibration apparatus 200 of a laser radar according to an embodiment of the present application is shown, where the calibration apparatus 200 of a laser radar includes: a state acquisition module 210, a first calibration module 220, and a second calibration module 230. The state acquiring module 210 is configured to acquire state information of the vehicle, where the state information includes a speed of the vehicle and a yaw rate of the vehicle; the first calibration module 220 is configured to calibrate the pitch angle and the roll angle of the laser radar if the state information meets a first preset condition, where the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than a first accuracy; the second calibration module 230 is configured to calibrate the yaw angle of the laser radar if the state information meets a second preset condition, where the second preset condition is set according to the state information when the measurement accuracy of the yaw angle of the laser radar of the vehicle is greater than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition.
As a possible implementation, the first calibration module 220 includes a first duration obtaining unit, a first calibration unit, and a first calibration determining unit. The first time length obtaining unit is used for obtaining a pitch angle and a roll angle of the laser radar and obtaining the duration time length of the state information according with a first preset condition if the state information accords with the first preset condition; the first calibration unit is used for calibrating the pitch angle and the roll angle of the laser radar based on the acquired pitch angle and roll angle if the duration is greater than or equal to a first time length, wherein the first time length is the effective continuous time length of the pitch angle and the roll angle; the first calibration determining unit is used for determining that calibration is completed if the duration is greater than or equal to a second time length, wherein the second time length is greater than the first time length, and the second time length is a continuous time length for determining that calibration is effective.
As a possible implementation manner, the second calibration module 230 includes a second duration obtaining unit, a second calibration unit, and a second calibration determining unit. The second duration obtaining unit is used for obtaining a yaw angle of the laser radar and obtaining duration of the state information according with a second preset condition if the state information accords with the second preset condition; the second calibration unit is used for calibrating the yaw angle of the laser radar based on the obtained yaw angle if the duration is greater than or equal to a third time length, wherein the third time length is the effective continuous time length of the determined yaw angle; the second calibration determining unit is configured to determine that calibration is completed if the duration is greater than or equal to a fourth time length, where the fourth time length is greater than the third time length, and the fourth time length is a continuous time length for determining that calibration is valid.
As a possible implementation, the first preset conditions comprise a speed greater than or equal to 50 km/h and a yaw rate less than 2 degrees/s, and the second preset conditions comprise a speed greater than or equal to 50 km/h and a yaw rate less than 0.5 degrees/s.
The method for calibrating the pitch angle and the roll angle of the laser radar comprises a normal vector acquisition unit and a calibration unit. The system comprises a normal vector acquisition unit, a ground detection unit and a ground detection unit, wherein the normal vector acquisition unit is used for acquiring a ground normal vector based on a ground detection algorithm; the calibration unit is used for calibrating the pitch angle and the roll angle of the laser radar based on the ground normal vector.
As a possible implementation manner, the calibration unit includes a first included angle obtaining component and a calibration component. The first included angle acquisition component is used for acquiring an included angle between a ground normal vector and a standard normal vector as a first included angle, the standard normal vector is the ground normal vector in a preset state, and the ground normal vector is parallel to a horizontal plane normal vector in the preset state; the calibration assembly is used for calibrating a pitch angle and a roll angle of the laser radar based on the first included angle.
As a possible implementation, calibrating the yaw angle of the lidar includes: a second included angle obtaining unit and a third calibration unit. The second included angle acquisition unit is used for acquiring an included angle between a lane line vector and a vehicle advancing direction vector as a second included angle; and the third calibration unit is used for calibrating the yaw angle of the laser radar based on the second included angle.
As a possible implementation manner, the calibration apparatus 200 of the laser radar further includes a signal obtaining module, configured to obtain the calibration signal, where the calibration signal is used to indicate that the laser radar enters a calibration state.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, the coupling between the modules may be electrical, mechanical or other type of coupling.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
In summary, in the calibration method of the laser radar, state information of the vehicle is obtained, where the state information includes a speed of the vehicle and a yaw rate of the vehicle; if the state information accords with a first preset condition, calibrating a pitch angle and a roll angle of the laser radar; and if the state information accords with a second preset condition, calibrating the yaw angle of the laser radar, wherein the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition. The parameters corresponding to the laser radar are calibrated under the condition that the vehicle state meets the corresponding conditions, so that the measured angle information of the laser radar is more accurate, and the accuracy of calibrating the laser radar can be improved.
Referring to fig. 11, a block diagram of a vehicle 100 according to an embodiment of the present disclosure is shown. The vehicle 100 of the present application may include one or more of the following components: body main body 110, lidar 120, processor 130, memory 140, and one or more applications, where lidar 120, processor 130, and memory 140 are installed in vehicle main body 110, where the one or more applications may be stored in memory 130 and configured to be executed by one or more processors 130, and where the one or more programs are configured to perform a method as described in the foregoing method embodiments.
Lidar 120 may include pulsed and continuous wave lidar, and may image objects using ultraviolet, visible, or near infrared light. The imaged material may include non-metallic objects, rocks, rain, compounds, aerosols, clouds, single molecules, and the like.
Processor 130 may include one or more processing cores. The processor 130 connects various parts within the overall computer device using various interfaces and lines, performs various functions of the computer device and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 140, and calling data stored in the memory 140. Alternatively, the processor 130 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 130 may integrate one or a combination of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 130, but may be implemented by a communication chip.
The Memory 140 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 140 may be used to store instructions, programs, code sets, or instruction sets. The memory 140 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The data storage area may also store data created by the computer device during use (e.g., phone book, audio-video data, chat log data), etc.
Referring to fig. 12, a block diagram of a computer-readable storage medium according to an embodiment of the present application is shown. The computer-readable storage medium 800 has stored therein program code that can be called by a processor to execute the methods described in the above-described method embodiments.
The computer-readable storage medium 800 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 800 includes a non-volatile computer-readable storage medium. The computer readable storage medium 800 has storage space for program code 810 to perform any of the method steps of the method described above. The program code can be read from or written to one or more computer program products. The program code 810 may be compressed, for example, in a suitable form.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (10)

1. A calibration method of a laser radar is characterized in that the method is applied to a vehicle provided with the laser radar, and comprises the following steps:
acquiring state information of the vehicle, wherein the state information comprises the speed of the vehicle and the yaw rate of the vehicle;
if the state information accords with a first preset condition, calibrating the pitch angle and the roll angle of the laser radar, wherein the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than a first accuracy;
and if the state information meets a second preset condition, calibrating the yaw angle of the laser radar, wherein the second preset condition is set according to the state information of the vehicle when the measurement accuracy of the yaw angle of the laser radar is greater than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition.
2. The method according to claim 1, wherein calibrating the pitch angle and the roll angle of the lidar if the state information satisfies a first predetermined condition comprises:
if the state information accords with a first preset condition, acquiring a pitch angle and a roll angle of the laser radar, and acquiring the duration of the state information according with the first preset condition;
if the duration is greater than or equal to a first time length, calibrating the pitch angle and the roll angle of the laser radar based on the acquired pitch angle and roll angle, wherein the first time length is the effective continuous time length of the pitch angle and the roll angle;
and if the duration is greater than or equal to a second time length, determining that the calibration is finished, wherein the second time length is greater than the first time length, and the second time length is the continuous time length for determining that the calibration is effective.
3. The method according to claim 1, wherein calibrating a yaw angle of the laser radar if the state information meets a second preset condition, where a yaw rate corresponding to the second preset condition is smaller than a yaw rate corresponding to the first preset condition, comprises:
if the state information meets a second preset condition, acquiring a yaw angle of the laser radar, and acquiring duration of the state information meeting the second preset condition;
if the duration is greater than or equal to a third time length, calibrating the yaw angle of the laser radar based on the obtained yaw angle, wherein the third time length is the continuous time length for determining the effective yaw angle;
and if the duration is greater than or equal to a fourth time length, determining that the calibration is completed, wherein the fourth time length is greater than the third time length, and the fourth time length is a continuous time length for determining that the calibration is effective.
4. The method according to claim 1, wherein the first preset condition comprises: the speed is greater than or equal to 50 kilometers per hour, and the yaw rate is less than 2 degrees per second;
the second preset condition includes: the velocity is greater than or equal to 50 kilometers per hour and the yaw rate is less than 0.5 degrees per second.
5. The method of any one of claims 1 to 4, wherein the calibrating the pitch angle and the roll angle of the lidar comprises:
acquiring a ground normal vector based on a ground detection algorithm;
and calibrating the pitch angle and the roll angle of the laser radar based on the ground normal vector.
6. The method of claim 5, wherein calibrating the pitch angle and roll angle of the lidar based on the ground normal vector comprises:
acquiring an included angle between the ground normal vector and a standard normal vector as a first included angle, wherein the standard normal vector is the ground normal vector in a preset state, and the preset state is that the ground normal vector is parallel to a horizontal plane normal vector;
and calibrating the pitch angle and the roll angle of the laser radar based on the first included angle.
7. The method of any one of claims 1 to 4, wherein said calibrating a yaw angle of the lidar comprises:
acquiring an included angle between a lane line vector and a vehicle advancing direction vector as a second included angle;
and calibrating the yaw angle of the laser radar based on the second included angle.
8. A calibration device for laser radar, the device comprising: a state acquisition module, a first calibration module and a second calibration module, wherein,
the state acquisition module is used for acquiring state information of the vehicle, wherein the state information comprises the speed of the vehicle and the yaw rate of the vehicle;
the first calibration module is used for calibrating the pitch angle and the roll angle of the laser radar if the state information meets a first preset condition, wherein the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than a first accuracy;
the second calibration module is used for calibrating the yaw angle of the laser radar if the state information meets a second preset condition, the second preset condition is set according to the state information of the vehicle when the measurement accuracy of the yaw angle of the laser radar is greater than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition.
9. A vehicle, characterized by comprising: a vehicle body, a laser radar,
One or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to perform the method of any of claims 1-7.
10. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the method according to any one of claims 1 to 7.
CN202210050867.2A 2022-01-17 2022-01-17 Laser radar calibration method and device, vehicle and storage medium Pending CN114442073A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116381632A (en) * 2023-06-05 2023-07-04 南京隼眼电子科技有限公司 Self-calibration method and device for radar roll angle and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116381632A (en) * 2023-06-05 2023-07-04 南京隼眼电子科技有限公司 Self-calibration method and device for radar roll angle and storage medium
CN116381632B (en) * 2023-06-05 2023-08-18 南京隼眼电子科技有限公司 Self-calibration method and device for radar roll angle and storage medium

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