CN115436918A - Method and device for correcting horizontal angle between laser radar and unmanned vehicle - Google Patents
Method and device for correcting horizontal angle between laser radar and unmanned vehicle Download PDFInfo
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- CN115436918A CN115436918A CN202211000258.2A CN202211000258A CN115436918A CN 115436918 A CN115436918 A CN 115436918A CN 202211000258 A CN202211000258 A CN 202211000258A CN 115436918 A CN115436918 A CN 115436918A
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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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention discloses a method and a device for correcting a horizontal angle between a laser radar and an unmanned vehicle, and relates to the technical field of automatic driving. One embodiment of the method comprises: the method comprises the steps of obtaining point cloud data of a laser radar when an unmanned vehicle runs at a first position and a second position, further obtaining the distance between the laser radar and an obstacle when the unmanned vehicle runs at the first position and the second position, obtaining the horizontal angle between the laser radar and the obstacle when the unmanned vehicle runs at the second position, calculating the horizontal angle between the unmanned vehicle and the obstacle when the unmanned vehicle runs at the second position according to the distance between the laser radar and the obstacle and the distance between the first position and the second position, checking whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range, and if not, correcting the horizontal angle between the laser radar and the unmanned vehicle. The method realizes the correction of the horizontal angle between the laser radar and the unmanned vehicle in the driving process of the unmanned vehicle, and improves the driving safety of the unmanned vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method and a device for correcting a horizontal angle between a laser radar and an unmanned vehicle.
Background
An automatic driving vehicle, namely an unmanned vehicle, is usually provided with various sensors to sense surrounding environment and objects, and a laser radar is used as a main sensor and has the characteristics of capability of accurately acquiring three-dimensional information of a target, wide detection range, strong anti-interference capability and the like. The accuracy of the horizontal angle between the laser radar and the unmanned vehicle directly influences the reliability of point cloud data acquired by the laser radar.
At present, whether the horizontal angle between the laser radar and the unmanned vehicle is accurate or not is only verified through an angle verification tool before the unmanned vehicle leaves a factory and during daily maintenance of the unmanned vehicle, and the verification cannot be performed in the vehicle running process.
In view of this, a method for correcting the horizontal angle between the lidar and the unmanned vehicle is needed to solve the problem that the vehicle cannot check the horizontal angle between the lidar and the unmanned vehicle during the driving process.
Disclosure of Invention
In view of this, an embodiment of the present invention provides a method for correcting a horizontal angle between a laser radar and an unmanned vehicle, which can check the horizontal angle between the laser radar and the unmanned vehicle in real time during a driving process of the unmanned vehicle.
In a first aspect, an embodiment of the present invention provides a method for correcting a horizontal angle between a laser radar and an unmanned vehicle, including:
when the unmanned vehicle drives to a first position, point cloud data of the laser radar when the unmanned vehicle is at the first position are obtained;
determining the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position according to the point cloud data of the laser radar when the unmanned vehicle is at the first position;
when the unmanned vehicle runs to a second position, point cloud data of the laser radar when the unmanned vehicle is at the second position are obtained; the driving directions of the unmanned vehicle at the first position and the second position are the same;
determining the distance and the horizontal angle between the laser radar and the obstacle when the unmanned vehicle is at the second position according to the point cloud data of the laser radar when the unmanned vehicle is at the second position;
calculating a horizontal angle between the unmanned vehicle and the obstacle at the second position according to the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distances between the first position and the second position;
and checking whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range according to the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle when the laser radar and the obstacle are in the second position, and if the horizontal angle between the laser radar and the unmanned vehicle is not within the preset error range, correcting the horizontal angle between the laser radar and the unmanned vehicle.
In a second aspect, an embodiment of the present invention provides a device for correcting a horizontal angle between a laser radar and an unmanned vehicle, including:
the system comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is configured to acquire point cloud data of the laser radar when an unmanned vehicle is at a first position when the unmanned vehicle is driven to the first position; determining the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position according to the point cloud data of the laser radar when the unmanned vehicle is at the first position;
the second determination module is configured to acquire point cloud data of the laser radar when the unmanned vehicle is at a second position when the unmanned vehicle is driven to the second position; the driving directions of the unmanned vehicle at the first position and the second position are the same; determining the distance and the horizontal angle between the laser radar and the obstacle when the unmanned vehicle is at the second position according to the point cloud data of the laser radar when the unmanned vehicle is at the second position;
a calculation module configured to calculate a horizontal angle of the unmanned vehicle and the obstacle at a second position according to a distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, a distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distances between the first position and the second position;
and the correction module is configured to check whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range according to the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle when the laser radar and the obstacle are at the second position, and correct the horizontal angle between the laser radar and the unmanned vehicle if the horizontal angle is not within the preset error range.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a program stored in the memory and executable on the processor, and when the processor executes the program, the method according to any of the above embodiments is implemented.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, and the program, when executed by a processor, implements the method according to any one of the embodiments.
One embodiment of the above invention has the following advantages or benefits: the method comprises the steps of acquiring point cloud data of a laser radar when an unmanned vehicle is at a first position and a second position in the driving process of the unmanned vehicle, respectively acquiring the distance between the laser radar and an obstacle when the unmanned vehicle is at the first position and the second position and the horizontal angle between the laser radar and the obstacle when the unmanned vehicle is at the second position according to the point cloud data of the first position and the second position, calculating the horizontal angle between the unmanned vehicle and the obstacle when the unmanned vehicle is at the second position according to the distance between the laser radar and the obstacle when the first position, the distance between the laser radar and the obstacle when the second position and the distance between the first position and the second position, checking whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range or not according to the horizontal angle between the laser radar and the obstacle when the second position and the horizontal angle between the unmanned vehicle and the obstacle, and the horizontal angle between the unmanned vehicle and the obstacle if the horizontal angle is not, and correcting the horizontal angle between the laser radar and the unmanned vehicle and the horizontal angle between the unmanned vehicle. By the method, the horizontal angle between the laser radar and the unmanned vehicle can be corrected in the driving process of the unmanned vehicle, and the reliability of the point cloud data of the laser radar and the driving safety of the unmanned vehicle are improved.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a flowchart of a method for correcting a horizontal angle between a laser radar and an unmanned vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a horizontal angle of a lidar and an unmanned vehicle provided by one embodiment of the invention;
fig. 3 is a flowchart of a device for correcting a horizontal angle between a laser radar and an unmanned vehicle according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of a computer system suitable for use in implementing a terminal device or server of an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The laser radar is used as the most important sensor of the automatic driving vehicle, has very obvious advantages in the aspects of target information acquisition, anti-interference, detection range and the like, and the accuracy check of the horizontal angle of the laser radar and the unmanned vehicle directly influences the reliability of the point cloud data of the laser radar. At present, the accuracy check of the horizontal angle between the laser radar and the unmanned vehicle can only be carried out before the unmanned vehicle leaves a factory or during the daily maintenance of the unmanned vehicle, and the check cannot be completed in the driving process of the vehicle.
In view of this, according to fig. 1, an embodiment of the present invention provides a method for correcting a horizontal angle between a laser radar and an unmanned vehicle, including:
In the driving process of the unmanned vehicle, laser radar point cloud data of the unmanned vehicle at a certain position are collected, the position is a first position, and the first position can be an initial point of a driving track or other points on the driving track.
And 102, determining the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position according to the point cloud data of the laser radar when the unmanned vehicle is at the first position.
And determining the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position according to the point cloud data of the laser radar acquired at the first position in the step 101, wherein the distance can be obtained from the point cloud data.
And 103, when the unmanned vehicle drives to the second position, acquiring the point cloud data of the laser radar when the unmanned vehicle is at the second position.
The second position is a certain position reached by the unmanned vehicle when the unmanned vehicle runs away from the first position, and the running direction of the unmanned vehicle at the second position is consistent with that at the first position.
And step 104, determining the distance and the horizontal angle between the laser radar and the obstacle when the unmanned vehicle is at the second position according to the point cloud data of the laser radar when the unmanned vehicle is at the second position.
According to the point cloud data of the laser radar collected when the unmanned vehicle is at the second position, the distance and the horizontal angle between the laser radar and the obstacle when the unmanned vehicle is at the second position can be obtained.
And 105, calculating the horizontal angle between the unmanned vehicle and the obstacle at the second position according to the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position and the distances between the first position and the second position.
The point cloud data of the laser radar collected by the unmanned vehicle at the first position and the second position can obtain the coordinate information of the first position and the second position from the point cloud data, and the distance between the first position and the second position can be obtained according to the coordinate information. Based on the cosine theorem, the horizontal angle between the unmanned vehicle and the obstacle at the second position can be calculated according to the distance between the laser radar and the obstacle at the first position, the distance between the laser radar and the obstacle at the second position and the distances between the first position and the second position. The horizontal angle refers to an angle formed by the vehicle running direction and the obstacle.
And 106, checking whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range according to the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position, and correcting the horizontal angle between the laser radar and the unmanned vehicle when the horizontal angle between the laser radar and the unmanned vehicle is not within the preset error range.
And calculating an angle difference value of the two angles according to the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle when the laser radar is at the second position, wherein the angle difference value is the horizontal angle between the laser radar and the unmanned vehicle.
If the horizontal angle between the laser radar and the unmanned vehicle is within the preset error range, the verification result of the horizontal angle between the laser radar and the unmanned vehicle is accurate, and the step 103 can be returned for next verification. If the point cloud data is not in the preset range, the horizontal angle check result of the laser radar and the unmanned vehicle is inaccurate, and the horizontal angle of the laser radar and the unmanned vehicle needs to be corrected in order to ensure the reliability of the collected point cloud data of the laser radar. The correction modes include at least two, one is that the unmanned vehicle sends an abnormal signal to the background and then stops to perform artificial correction, and the other is that the laser radar performs automatic correction, for example, if the horizontal angle between the laser radar and the unmanned vehicle is 5 degrees, the laser radar is controlled to adjust for 5 degrees.
In the embodiment of the invention, in the driving process of the unmanned vehicle, point cloud data of the laser radar when the unmanned vehicle is at the first position and the second position are obtained, the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position and the second position and the horizontal angle between the laser radar and the obstacle when the unmanned vehicle is at the second position are respectively obtained according to the point cloud data of the first position and the second position, according to the distance between the laser radar and the obstacle in the first position, the distance between the laser radar and the obstacle in the second position, and the distance between the first position and the second position, the horizontal angle between the unmanned vehicle and the obstacle in the second position can be calculated, according to the horizontal angle between the laser radar and the obstacle in the second position and the horizontal angle between the unmanned vehicle and the obstacle, whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range can be verified, and if the horizontal angle is not within the preset error range, the horizontal angle between the laser radar and the unmanned vehicle is corrected. By the method, the horizontal angle between the laser radar and the unmanned vehicle can be corrected in the driving process of the unmanned vehicle, and the reliability of the point cloud data of the laser radar and the driving safety of the unmanned vehicle are improved. In addition, if the steps 103 to 106 are repeated, the horizontal angle between the laser radar and the unmanned vehicle can be verified in real time.
In one embodiment of the present invention, calculating a horizontal angle of the unmanned vehicle to the obstacle at the second position based on a distance of the lidar to the obstacle when the unmanned vehicle is at the first position, a distance of the lidar to the obstacle when the unmanned vehicle is at the second position, and the distances of the first position and the second position includes:
calculating an included angle formed by the obstacle, the second position and the first position according to the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position and the distance between the first position and the second position;
and calculating the horizontal angle between the unmanned vehicle and the obstacle at the second position according to the included angle formed by the obstacle, the second position and the first position.
Specifically, assuming that a first position is a point a, a position where an obstacle is located is a point b, a second position is a point c, a distance between line segments ab is a distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, a distance between line segments bc is a distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and a line segment ac is a distance between the first position and the second position, the line segments ab, bc and ac form a triangle abc, based on the cosine law, an angle of one corner bca of the triangle, namely an included angle formed by the obstacle, the second position and the first position, and a horizontal angle between the unmanned vehicle and the obstacle can be calculated according to the included angle, wherein the horizontal angle between the unmanned vehicle and the obstacle and the included angle formed by the obstacle, the second position and the first position are supplementary angles.
In the embodiment of the invention, a triangle is formed by the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position and the distance between the first position and the second position, and the included angle formed by the obstacle, the second position and the first position can be conveniently and rapidly calculated based on the cosine law, so that the horizontal angle between the unmanned vehicle and the obstacle is calculated.
In one embodiment of the present invention, verifying whether the horizontal angle between the lidar and the unmanned vehicle is within a preset error range according to the horizontal angle between the lidar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle when the lidar is at the second position includes:
calculating an angle difference value between a horizontal angle of the laser radar and the obstacle and a horizontal angle of the unmanned vehicle and the obstacle when the laser radar is at a second position;
and checking whether the angle difference value is within a preset error range.
Specifically, according to the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle when the laser radar and the obstacle are located at the second position, the difference between the two angles can be calculated, the difference is the horizontal angle between the laser radar and the unmanned vehicle, whether the difference is located within a preset error range is verified according to a preset error range, and if the difference is located within the error range, the verification result of the horizontal angle between the laser radar and the unmanned vehicle is accurate. For example, when the horizontal angle between the laser radar and the obstacle is 30 degrees and the horizontal angle between the unmanned vehicle and the obstacle is 35 degrees in the second position, the difference between the two angles is 5 degrees, and if the preset error range is 0 to 10 degrees, and the difference 5 degrees is determined to be within the preset error range, the horizontal angle between the laser radar and the unmanned vehicle meets the requirement.
In the embodiment of the invention, the horizontal angle between the laser radar and the unmanned vehicle is calculated according to the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle, and the horizontal angle between the laser radar and the unmanned vehicle is verified by comparing whether the horizontal angle between the laser radar and the unmanned vehicle is within the preset error range, so that the deviation value of the horizontal angle between the laser radar and the unmanned vehicle can be accurately obtained.
In one embodiment of the invention, correcting the horizontal angle of the lidar and the unmanned vehicle comprises:
and adjusting the horizontal angle between the laser radar and the unmanned vehicle according to the angle difference.
Specifically, if the angle difference is not within the preset error range, the adjustment is performed according to the angle difference, and the horizontal angle between the laser radar and the unmanned vehicle is adjusted to 0 degree.
In the embodiment of the invention, the adjustment can be carried out according to the angle difference value, namely the horizontal angle between the laser radar and the unmanned vehicle, and the horizontal angle between the laser radar and the unmanned vehicle is corrected, so that the reliability of the point cloud data of the laser radar and the driving safety of the unmanned vehicle are improved.
Fig. 2 is a schematic diagram illustrating horizontal angle calibration between a lidar and an unmanned vehicle according to an embodiment of the present invention. B in the diagram refers to the position of an obstacle, when the vehicle runs to a first position A1, the point cloud data of the laser radar are collected, and according to the point cloud data of A1, the distance between the laser radar and the obstacle when the unmanned vehicle is at the position A1 can be obtained to be M. And the unmanned vehicle travels to a second position A2 along a straight line, the point cloud data of the laser radar is collected, and the distance N between the laser radar and the obstacle and the horizontal angle theta of the unmanned vehicle at the position A2 are obtained according to the point cloud data of the A2. According to the point cloud data of the laser radar acquired from the position A1 and the position A2, the distance L between the A1 and the A2 can be obtained. A triangle is formed by the positions A1, B and A2, and the included angle beta can be calculated by utilizing the cosine theorem according to three sides M, N and L of the triangle:
calculating an included angle alpha between the unmanned vehicle and the barrier B when the unmanned vehicle is at the position A2 according to the beta:
α＝180°-β
according to alpha and theta, a difference value of the two angles can be calculated, the difference value is the horizontal angle between the laser radar and the unmanned vehicle, whether the difference value is within a preset error range or not is judged, if the difference value is within the preset error range, the horizontal angle between the laser radar and the unmanned vehicle is accurate, and if the difference value is not within the preset error range, the horizontal angle between the laser radar and the unmanned vehicle is adjusted according to the difference value, and the horizontal angle between the laser radar and the unmanned vehicle is corrected to be within the accurate range.
As shown in fig. 3, an embodiment of the present specification provides a device for correcting a horizontal angle between a laser radar and an unmanned vehicle, including:
the first determining module 301 is configured to acquire point cloud data of the laser radar when the unmanned vehicle is at a first position when the unmanned vehicle is driven to the first position; determining the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position according to the point cloud data of the laser radar when the unmanned vehicle is at the first position;
a second determining module 302 configured to obtain point cloud data of the laser radar when the unmanned vehicle is at a second position when the unmanned vehicle is driven to the second position; the driving directions of the unmanned vehicle at the first position and the second position are the same; determining the distance and the horizontal angle between the laser radar and the obstacle when the unmanned vehicle is at the second position according to the point cloud data of the laser radar when the unmanned vehicle is at the second position;
a calculating module 303, configured to calculate a horizontal angle between the unmanned vehicle and the obstacle at the second position according to the distance between the lidar and the obstacle when the unmanned vehicle is at the first position, the distance between the lidar and the obstacle when the unmanned vehicle is at the second position, and the distances between the first position and the second position;
a correcting module 304, configured to verify whether the horizontal angle between the lidar and the unmanned vehicle is within a preset error range according to the horizontal angle between the lidar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle when the lidar is at the second position, and correct the horizontal angle between the lidar and the unmanned vehicle if the horizontal angle is not within the preset error range.
In an embodiment of the present invention, the calculating module 303 is configured to calculate an included angle formed by the obstacle, the second position and the first position according to a distance between the lidar and the obstacle when the unmanned vehicle is at the first position, a distance between the lidar and the obstacle when the unmanned vehicle is at the second position and a distance between the first position and the second position; and calculating the horizontal angle between the unmanned vehicle and the obstacle at the second position according to the included angle formed by the obstacle, the second position and the first position.
In one embodiment of the invention, the correction module 304 is configured to calculate an angle difference between the horizontal angle of the lidar and the obstacle, and the horizontal angle of the unmanned vehicle and the obstacle when in the second position; and checking whether the angle difference value is within a preset error range.
In an embodiment of the invention, the calibration module 304 is configured to adjust a horizontal angle between the lidar and the unmanned vehicle according to the angle difference.
The embodiment of the present specification provides an electronic device, which includes a memory, a processor, and a program stored in the memory and executable on the processor, and when the processor executes the program, the method according to any of the embodiments described above is implemented.
Referring now to FIG. 4, a block diagram of a computer system 400 suitable for use with a terminal device implementing an embodiment of the invention is shown. The terminal device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 4, the computer system 400 includes a Central Processing Unit (CPU) 401 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage section 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the system 400 are also stored. The CPU 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
The following components are connected to the I/O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including a display device such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 408 including a hard disk and the like; and a communication section 409 including a network interface card such as a LAN card, a modem, or the like. The communication section 409 performs communication processing via a network such as the internet. A driver 410 is also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 410 as necessary, so that a computer program read out therefrom is mounted into the storage section 408 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 409, and/or installed from the removable medium 411. The computer program performs the above-described functions defined in the system of the present invention when executed by a Central Processing Unit (CPU) 401.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present invention, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a sending module, an obtaining module, a determining module, and a first processing module. The names of these modules do not form a limitation on the modules themselves in some cases, and for example, the sending module may also be described as a "module sending a picture acquisition request to a connected server".
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for correcting the horizontal angle between a laser radar and an unmanned vehicle is characterized by comprising the following steps:
when the unmanned vehicle drives to a first position, point cloud data of the laser radar when the unmanned vehicle is at the first position are obtained;
determining the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position according to the point cloud data of the laser radar when the unmanned vehicle is at the first position;
when the unmanned vehicle runs to a second position, point cloud data of the laser radar when the unmanned vehicle is at the second position are obtained; the driving directions of the unmanned vehicle at the first position and the second position are the same;
determining the distance and the horizontal angle between the laser radar and the obstacle when the unmanned vehicle is at the second position according to the point cloud data of the laser radar when the unmanned vehicle is at the second position;
calculating a horizontal angle between the unmanned vehicle and the obstacle at the second position according to the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distances between the first position and the second position;
and checking whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range according to the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle when the laser radar and the obstacle are in the second position, and if the horizontal angle between the laser radar and the unmanned vehicle is not within the preset error range, correcting the horizontal angle between the laser radar and the unmanned vehicle.
2. The method of claim 1,
calculating a horizontal angle of the unmanned vehicle and the obstacle at the second position according to a distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, a distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distances between the first position and the second position, including:
calculating an included angle formed by the obstacle, the second position and the first position according to the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position and the distance between the first position and the second position;
and calculating the horizontal angle between the unmanned vehicle and the obstacle at the second position according to the included angle formed by the obstacle, the second position and the first position.
3. The method of claim 1 or 2,
verifying whether the horizontal angle of the laser radar and the unmanned vehicle is within a preset error range according to the horizontal angle of the laser radar and the obstacle and the horizontal angle of the unmanned vehicle and the obstacle when the laser radar and the obstacle are at the second position, and the method comprises the following steps:
calculating an angle difference value between a horizontal angle of the laser radar and the obstacle and a horizontal angle of the unmanned vehicle and the obstacle when the laser radar is at a second position;
and checking whether the angle difference value is within a preset error range.
4. The method of claim 3,
correcting the horizontal angle between the laser radar and the unmanned vehicle, comprising:
and adjusting the horizontal angle between the laser radar and the unmanned vehicle according to the angle difference.
5. A device for correcting the horizontal angle between a laser radar and an unmanned vehicle is characterized by comprising:
the system comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is configured to acquire point cloud data of the laser radar when the unmanned vehicle runs to a first position; determining the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position according to the point cloud data of the laser radar when the unmanned vehicle is at the first position;
the second determining module is configured to acquire point cloud data of the laser radar when the unmanned vehicle runs to a second position; the driving directions of the unmanned vehicle at the first position and the second position are the same; determining the distance and the horizontal angle between the laser radar and the obstacle when the unmanned vehicle is at the second position according to the point cloud data of the laser radar when the unmanned vehicle is at the second position;
a calculation module configured to calculate a horizontal angle of the unmanned vehicle and the obstacle at a second position according to a distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, a distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distances between the first position and the second position;
and the correction module is configured to check whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range according to the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle when the laser radar and the obstacle are at the second position, and correct the horizontal angle between the laser radar and the unmanned vehicle if the horizontal angle is not within the preset error range.
6. The apparatus of claim 5,
the calculation module is configured to calculate an included angle formed by the obstacle, the second position and the first position according to the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position and the distance between the first position and the second position; and calculating the horizontal angle between the unmanned vehicle and the obstacle at the second position according to the included angle formed by the obstacle, the second position and the first position.
7. The apparatus of claim 5 or 6,
the correction module is configured to calculate an angle difference value between a horizontal angle of the lidar and the obstacle and a horizontal angle of the unmanned vehicle and the obstacle at a second position; and checking whether the angle difference value is within a preset error range.
8. The apparatus of claim 7,
the correction module is configured to adjust a horizontal angle between the laser radar and the unmanned vehicle according to the angle difference.
9. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-4.
10. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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| CN116202472A (en) * | 2023-05-05 | 2023-06-02 | 九识(苏州)智能科技有限公司 | Method, device, storage medium and equipment for checking steering angle of front wheel |
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| CN116202472A (en) * | 2023-05-05 | 2023-06-02 | 九识(苏州)智能科技有限公司 | Method, device, storage medium and equipment for checking steering angle of front wheel |
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