CN116164786A - Method and device for determining sensor external parameters, electronic equipment and storage medium - Google Patents
Method and device for determining sensor external parameters, electronic equipment and storage medium Download PDFInfo
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- CN116164786A CN116164786A CN202310334323.3A CN202310334323A CN116164786A CN 116164786 A CN116164786 A CN 116164786A CN 202310334323 A CN202310334323 A CN 202310334323A CN 116164786 A CN116164786 A CN 116164786A
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Abstract
The embodiment of the disclosure discloses a method and a device for determining sensor external parameters, electronic equipment and a storage medium, wherein the method comprises the following steps: determining a vehicle state corresponding to each time frame based on the vehicle chassis information corresponding to each time frame in at least one time frame; determining a target angular velocity bias based on the first angular velocities respectively corresponding to the time frames measured by the inertial measurement unit in response to the vehicle state respectively corresponding to the time frames satisfying a first preset condition; correcting the second angular velocity corresponding to the target time frame measured by the inertial measurement unit based on the target angular velocity bias to obtain a third angular velocity corresponding to the target time frame; and responding to the third angular velocity meeting a second preset condition, and compensating the calibrated external parameters of the target sensor on the vehicle based on the third angular velocity to obtain the target external parameters corresponding to the target sensor in the target time frame. The embodiment of the disclosure can effectively improve the accuracy of related tasks participated in by the sensor external parameters.
Description
Technical Field
The disclosure relates to automatic driving technology, in particular to a method and a device for determining sensor external parameters, electronic equipment and a storage medium.
Background
In an automatic driving scene, the sensing of the surrounding environment needs to be realized based on various sensors (such as a camera, a laser radar and the like) on the vehicle, and when the sensing of the surrounding environment is based on each sensor, the conversion of a coordinate system is usually realized based on the calibrated external parameters of each sensor, but due to the conditions of acceleration and deceleration of the vehicle, road surface jolt and the like, obvious instantaneous changes of the external parameters of each sensor on the vehicle relative to the ground can occur, so that the accuracy of tasks such as lane line detection, target ranging and the like is affected.
Disclosure of Invention
The technical problems of external parameter change of each sensor and the like caused by acceleration and deceleration of a vehicle and road surface jolt are solved. The embodiment of the disclosure provides a method, a device, electronic equipment and a storage medium for determining sensor external parameters.
According to an aspect of the embodiments of the present disclosure, there is provided a method for determining a sensor external parameter, including: determining a vehicle state corresponding to each time frame based on the vehicle chassis information corresponding to each time frame in at least one time frame; determining a target angular velocity bias based on the first angular velocities respectively corresponding to the time frames measured by the inertial measurement unit in response to the vehicle state respectively corresponding to the time frames satisfying a first preset condition; correcting a second angular velocity corresponding to a target time frame measured by the inertial measurement unit based on the target angular velocity bias to obtain a third angular velocity corresponding to the target time frame, wherein the target time frame is a later time frame of the at least one time frame; and responding to the third angular velocity meeting a second preset condition, and compensating the calibrated external parameters of the target sensor on the vehicle based on the third angular velocity to obtain the target external parameters of the target sensor corresponding to the target time frame.
According to another aspect of the embodiments of the present disclosure, there is provided a device for determining a sensor external parameter, including: the first processing module is used for determining the vehicle state corresponding to each time frame based on the vehicle chassis information corresponding to each time frame in at least one time frame; the second processing module is used for determining a target angular velocity bias based on the first angular velocities respectively corresponding to the time frames measured by the inertia measurement unit in response to the vehicle states respectively corresponding to the time frames meeting a first preset condition; the third processing module is used for correcting the second angular velocity corresponding to the target time frame measured by the inertial measurement unit based on the target angular velocity bias to obtain a third angular velocity corresponding to the target time frame, wherein the target time frame is a later time frame of the at least one time frame; and the fourth processing module is used for responding to the third angular velocity to meet a second preset condition, compensating the calibrated external parameters of the target sensor on the vehicle based on the third angular velocity, and obtaining the target external parameters of the target sensor corresponding to the target time frame.
According to still another aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the method for determining a sensor profile according to any one of the above embodiments of the present disclosure.
According to still another aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including: a processor; a memory for storing the processor-executable instructions; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method for determining a sensor external parameter according to any of the above embodiments of the present disclosure.
According to the method, the device, the electronic equipment and the storage medium for determining the sensor external parameters, which are provided by the embodiment of the disclosure, when the vehicle is in a certain state, the angular velocity bias of the Inertial Measurement Unit (IMU) is estimated based on the reading of the IMU, the angular velocity in the bumpy state of the vehicle is corrected based on the estimated angular velocity bias, the calibrated external parameters of the sensor on the vehicle are compensated based on the corrected angular velocity, the instantaneous external parameters of the sensor are obtained, and the method, the device and the storage medium are used for tasks such as lane line detection and target ranging in the bumpy state, and ensure the accuracy of each task.
The technical scheme of the present disclosure is described in further detail below through the accompanying drawings and examples.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing embodiments thereof in more detail with reference to the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the disclosure, and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure, without limitation to the disclosure. In the drawings, like reference numerals generally refer to like parts or steps.
FIG. 1 is an exemplary application scenario of a method of determining sensor external parameters provided by the present disclosure;
FIG. 2 is a flow chart of a method for determining sensor external parameters provided by an exemplary embodiment of the present disclosure;
FIG. 3 is a flow chart of a method for determining sensor external parameters provided in another exemplary embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a sensor external parameter determination device according to an exemplary embodiment of the present disclosure;
FIG. 5 is a schematic structural view of a sensor external parameter determination device provided in another exemplary embodiment of the present disclosure;
fig. 6 is a schematic structural view of an application embodiment of the electronic device of the present disclosure.
Detailed Description
Hereinafter, example embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present disclosure and not all of the embodiments of the present disclosure, and that the present disclosure is not limited by the example embodiments described herein.
It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
Summary of the disclosure
In the process of implementing the disclosure, the inventor finds that in an automatic driving scene, the sensing of the surrounding environment needs to be implemented based on various sensors (such as a camera, a laser radar and the like) on the vehicle, and when the sensing of the surrounding environment is based on each sensor, the conversion of a coordinate system is generally required to be implemented based on the calibrated external parameters of each sensor, however, due to the situations of acceleration and deceleration of the vehicle, road surface bump and the like, obvious instantaneous changes of the external parameters of each sensor on the vehicle relative to the ground can occur, so that the accuracy of tasks such as lane line detection, target ranging and the like is affected.
Exemplary overview
Fig. 1 is an exemplary application scenario of a method for determining sensor external parameters provided in the present disclosure.
In the image-based lane line detection scene, an environmental image around a vehicle is acquired based on an image sensor (camera) with at least one view angle, so that an environmental image corresponding to each view angle is obtained, such as a four-way round-the-road system, wherein the four-way round-the-road system comprises cameras with 4 view angles of front view, rear view, left view and right view, the environmental image corresponding to each view angle is processed based on a lane line detection model obtained by training in advance, lane line detection results under an image coordinate system corresponding to each view angle are obtained, and further, lane line detection results corresponding to each view angle can be converted into a vehicle coordinate system based on internal parameters and external parameters of the image sensor, fusion of multiple view angles is realized, and fusion lane lines under the vehicle coordinate system are obtained, so that complete lane lines around the vehicle are obtained. By using the method for determining the sensor external parameters of the present disclosure (which is performed in the device for determining the sensor external parameters of the present disclosure), the vehicle state corresponding to each time frame may be determined based on the vehicle chassis information corresponding to each time frame in at least one time frame, the at least one time frame may include at least one history frame, or may include the current frame and the at least one history frame, the vehicle state may include a stationary state, a uniform straight motion state, an accelerated straight motion state, a left steering state, a right steering state, etc., specifically may be set according to actual requirements, if the vehicle state corresponding to each time frame respectively satisfies a first preset condition, the target angular velocity bias is determined based on the first angular velocity corresponding to each time frame measured by the inertia measurement unit respectively, the first preset condition may include that the vehicle state is stationary or uniform straight, the target angular velocity bias characterizes the bias condition of the angle, the second angular velocity corresponding to the target time frame measured by the inertial measurement unit is corrected based on the target angular velocity bias to obtain a third angular velocity corresponding to the target time frame, the target time frame is a later time frame of at least one time frame, the calibration external parameters of the target sensor on the vehicle are compensated based on the third angular velocity in response to the third angular velocity meeting a second preset condition, the target external parameters corresponding to the target sensor at the target time frame are obtained, the target external parameters are instantaneous external parameters of the target time frame, the target time frame is a later time frame of the at least one time frame, for example, in a real-time scene, the at least one time frame can comprise at least one historical time frame, the target time frame can be a current time frame, or in a real-time scene, determining a target angular velocity bias at a current time frame for angular velocity correction at a later time frame and external parameter compensation under the condition of jolt; for example, in a non-real-time scene, at least one time frame may be a time frame within a preset period, and the target time frame may be a time frame after the preset period, which may be specifically set according to actual requirements. The second preset condition may be that the pitch angle speed and/or the roll angle speed exceeds a threshold (which indicates that the vehicle is in a jolt state), specifically may be set according to actual requirements, and when the lane line detection is performed on the environmental image of the target time frame, the image sensor external reference adopted should be the target external reference when the lane line detection result obtained based on the lane line detection model is converted into the vehicle coordinate system, so as to reduce the influence of the jolt state of the vehicle on the accuracy of the obtained lane line, and improve the accuracy of the lane lines around the vehicle obtained in the jolt state. If the third angular velocity does not meet the second preset condition, the calibration external parameters of the image sensor can be adopted when the coordinate system conversion is carried out.
It should be noted that, the method for determining the sensor external parameters of the present disclosure may be applicable to any scene that needs to use the sensor external parameters, such as target ranging, environment reconstruction, etc., and is not limited to the above-mentioned image-based lane line detection scene, and the sensor of the present disclosure may be any sensor with external parameters, and is not limited to the above-mentioned image sensor, and may be, for example, an ultrasonic radar, a laser radar, a millimeter wave radar, etc., and may be specifically set according to actual requirements. In addition, the method disclosed by the invention can be applied to a real-time scene in the running process of the vehicle, or can be applied to a non-real-time scene, such as a map construction scene, specifically, for example, data acquired for a period of time first can comprise data acquired by a sensor, time frame information, pose of the acquired vehicle of each time frame, vehicle chassis information and other related information, and the related information is uploaded to a server to establish an environment map. The specific examples are not limited.
Exemplary method
Fig. 2 is a flow chart of a method for determining sensor external parameters according to an exemplary embodiment of the present disclosure. The embodiment can be applied to electronic devices, such as servers, terminals, and vehicle-mounted computing platforms, as shown in fig. 2, and includes the following steps:
The vehicle chassis information may include yaw rate, speed, etc., and may be used to determine a vehicle state, where the vehicle state may include a stationary state, a uniform straight motion state, an accelerated straight motion state, a left steering state, a right steering state, etc., and may be specifically set according to actual requirements.
In an alternative embodiment, the at least one time frame may comprise at least one historical time frame, or the at least one time frame may comprise a current time frame and at least one historical time frame. For example, in an automatic driving scenario, in a current time frame, a vehicle state of the vehicle in each historical time frame is determined based on vehicle chassis information corresponding to a first number of historical time frames, or in the current time frame, a vehicle state of the vehicle in the current time frame and each historical time frame is determined based on vehicle chassis information corresponding to the current time frame and the first number of historical time frames. Can be specifically set according to actual requirements.
In an alternative embodiment, the vehicle chassis information may be obtained based on an encoder provided on the vehicle chassis. In the present disclosure, for any time frame, the electrical signal obtained by the encoder in the time period may be obtained according to the time period between the time frame and the previous time frame, and further, information such as yaw rate, speed, etc. of the vehicle may be determined based on the electrical signal of the encoder, as vehicle chassis information corresponding to the time frame. The type of encoder may be set according to actual requirements, for example, the type of encoder may include an photoelectric encoder, a hall encoder, and the like. The present disclosure is not limited, and the working principles of different types of encoders are not repeated.
Among them, an inertial measurement unit (Inertial Measurement Unit, abbreviated as IMU) is a device that measures three-axis attitude angles (or angular velocities) including yaw angle (yaw), pitch angle (pitch), and roll angle (roll) of an object (such as a vehicle), that is, a first angular velocity includes three angular velocity components of yaw angle velocity, pitch angle velocity, and roll angle velocity. In order to be able to determine the angular velocity offset, according to the principle that the inertial measurement unit still has an average non-zero angular velocity reading when not actually in a rotating state, a first preset condition is set, for example, the first preset condition may be that no rotation occurs, or the first preset condition may include that the vehicle state is that the vehicle is stationary or straight at a constant speed. When the vehicle state corresponding to each time frame in each time frame is stationary or straight running at a constant speed, that is, no rotation occurs, if the IMU measures that each time frame still has an angular velocity, the angular velocity (referred to as a first angular velocity) corresponding to each time frame measured by the IMU may be obtained, and the target angular velocity bias of the IMU is determined based on the first angular velocities corresponding to each time frame, for example, the target angular velocity bias is determined by averaging each first angular velocity.
In an alternative embodiment, the IMU may be a consumer level IMU.
The target time frame may be any time frame after at least one time frame, and correcting the second angular velocity corresponding to the target time frame based on the target angular velocity bias means to eliminate the influence of the angular velocity bias in the second angular velocity, so as to obtain a more accurate third angular velocity corresponding to the target time frame.
In an alternative embodiment, the target angular velocity bias may represent the bias direction by positive and negative, and the corresponding angular velocity may also represent the direction by positive and negative, and based on this, the correction method may be to use the difference of the second angular velocity minus the target angular velocity bias as the third angular velocity, which may be specifically set according to the actual requirement.
And 204, responding to the third angular velocity to meet the second preset condition, and compensating the calibrated external parameters of the target sensor on the vehicle based on the third angular velocity to obtain the target external parameters corresponding to the target sensor in the target time frame.
The second preset condition may be determined according to an influence of vehicle bump on the parameter, for example, the pitch angle speed and the roll angle speed may represent a bump state of the vehicle, and the second preset condition may be that the pitch angle speed and/or the roll angle speed exceeds a threshold, which may be specifically set according to actual requirements. When the third angular velocity meets the second preset condition, it indicates that the vehicle is in a bumpy state, which may cause that the relevant task of the target time frame is not accurate enough, so that the sensor calibration external parameters of the target time frame are compensated based on the corrected third angular velocity to obtain compensated target external parameters, and the compensated target external parameters are used for processing the relevant task of the target time frame, such as converting the sensor coordinate system into the vehicle coordinate system, thereby reducing the influence caused by the bumpy vehicle and improving the accuracy of the processing result of the relevant task.
According to the method for determining the sensor external parameters, when the vehicle is in a bumpy state, angular velocity bias of the Inertial Measurement Unit (IMU) is estimated based on the reading of the IMU, then the angular velocity of the vehicle in the bumpy state is corrected based on the estimated angular velocity bias, and then the calibrated external parameters of the sensor on the vehicle are compensated based on the corrected angular velocity, so that the instantaneous external parameters of the sensor are obtained, and the method is used for tasks such as lane line detection and target ranging in the bumpy state, and the accuracy of each task is guaranteed.
Fig. 3 is a flow chart illustrating a method for determining sensor external parameters according to another exemplary embodiment of the present disclosure.
In an alternative embodiment, step 204 may specifically include the steps of:
in step 2041, a target angle change amount corresponding to the target time frame is determined based on the third angular velocity in response to the pitch angle velocity component in the third angular velocity being greater than the first threshold and/or the roll angle velocity component being greater than the second threshold.
The first threshold and the second threshold can be set according to actual requirements, the third angular velocity comprises a yaw angular velocity component, a pitch angular velocity component and a rolling angular velocity component, the pitch angular velocity component and the rolling angular velocity component can represent the bumping condition of the vehicle, and when any one of the pitch angular velocity component in the third angular velocity is larger than the first threshold and the rolling angular velocity component is larger than the second threshold, the bumping condition of the vehicle is serious, which can lead to inaccurate processing results of related tasks and requires instantaneous compensation of calibrated external parameters. The target angle change amount can be realized based on the integral of angular velocity and time, such as the product of the third angular velocity and the frame interval time, and can be specifically set according to actual requirements.
In this case, since the external parameter compensation is performed based on the angle change amount, the rotation part of the external parameter is mainly compensated. The sensor external parameters comprise a rotation matrix and a translation matrix, so that the rotation matrix of the external parameters is mainly compensated, and an external parameter compensation quantity matrix can be determined based on the target angle change quantity and used as an external parameter compensation quantity.
The extrinsic compensation amounts can be expressed, for example, as follows:
dR＝R y (pitch)*R x (roll)
wherein roll represents roll angle variation in target angle variation, pitch represents pitch angle variation in target angle variation, R y (pitch) represents a rotation compensation matrix for pitch angle variation determination, R x (roll) represents a rotation compensation matrix for roll angle variation determination, and is represented as follows:
and 2043, compensating the calibrated external parameters of the target sensor based on the external parameter compensation quantity to obtain the target external parameters.
The translation matrix in the calibrated external parameters is kept unchanged, the rotation torque matrix is compensated based on the external parameter compensation quantity, a target rotation matrix is obtained, and the target external parameters are determined based on the target rotation matrix and the translation matrix.
Illustratively, the rotation matrix in the calibration external parameter is denoted as Rvcs, and the target rotation matrix Rvcs' is denoted as:
Rvcs′＝dR*Rvcs
the obtained target outliers include a translation matrix f of 3*1 and a target rotation matrix Rvcs of 3*3, based on which the target outlier matrix can be expressed as:
according to the embodiment, when the pitch angle speed component in the third angular speed of the target time frame is greater than the first threshold value and/or the rolling angular speed component is greater than the second threshold value, the external parameter compensation quantity is determined based on the target angle change quantity, the calibrated external parameter of the target time frame is compensated, instantaneous compensation in a jolt state is effectively achieved, the accuracy of the external parameter in the jolt state is improved, and further the accuracy of a task processing result can be effectively improved when the external parameter is used for a corresponding task.
In an alternative embodiment, the vehicle chassis information includes a first yaw rate and a first speed; step 201 of determining a vehicle state corresponding to each time frame based on the vehicle chassis information corresponding to each time frame in at least one time frame, includes:
in step 2011, for any time frame in at least one time frame, in response to the first yaw angle and the first speed of the time frame being both 0, it is determined that the vehicle state corresponding to the time frame is a stationary state.
Wherein the first yaw angle and the first speed are both 0, which means that the vehicle is neither translating nor rotating, and thus the vehicle state can be determined to be stationary.
Wherein, the first yaw angle of 0 indicates that the vehicle is not rotating, and the first speed is the same as the potential time frame and indicates that the speed is not changing, so that the vehicle state can be determined to be a uniform linear motion state.
The embodiment determines the state of the vehicle in each time frame through the vehicle chassis information, and provides effective data reference for the subsequent determination of the target angular velocity bias.
In an alternative embodiment, in response to the vehicle state corresponding to each time frame in step 202 meeting the first preset condition, determining the target angular velocity bias based on the first angular velocity corresponding to each time frame measured by the inertial measurement unit includes:
in step 2021, in response to the vehicle state corresponding to each of the time frames being a stationary state or a uniform straight motion state, an angular velocity average is determined based on the first angular velocities respectively corresponding to the time frames.
When the vehicle is in a stationary state or a uniform linear motion state, rotation does not occur, if the IMU measures angular velocity, which indicates that the IMU has a certain angular velocity bias, the embodiment may determine an angular velocity average value based on the first angular velocities corresponding to the time frames respectively.
According to the method, the angular velocity bias of the IMU is effectively determined through the angular velocity mean value measured by the IMU in the stationary or uniform linear motion state of the vehicle, and the method is used for correcting the angular velocity under the rotation condition, so that the accuracy of the angular velocity can be effectively improved, and the accuracy of judging the bumpy state of the vehicle is further improved.
In an alternative embodiment, the correcting, based on the target angular velocity bias, the second angular velocity corresponding to the target time frame measured by the inertial measurement unit in step 203 to obtain the third angular velocity corresponding to the target time frame includes:
in step 2031, the difference between the second angular velocity corresponding to the target time frame and the target angular velocity offset is used as the third angular velocity.
According to the embodiment, the angular velocity of the target time frame is corrected through the target angular velocity bias, the accuracy of the angular velocity of the target time frame is effectively improved, the accurate and effective angular velocity is provided for whether the subsequent target time frame generates the bump of the vehicle, and further when the external parameters of the target time frame are required to be compensated, the more accurate external parameter compensation quantity can be determined.
The foregoing embodiments or optional examples of the disclosure may be implemented alone or in any combination without conflict, and may specifically be set according to actual needs, and the disclosure is not limited.
Any of the methods of determining sensor external parameters provided by the embodiments of the present disclosure may be performed by any suitable device having data processing capabilities, including, but not limited to: terminal equipment, servers, etc. Alternatively, any of the methods for determining a sensor profile provided by the embodiments of the present disclosure may be executed by a processor, such as the processor executing any of the methods for determining a sensor profile mentioned by the embodiments of the present disclosure by invoking corresponding instructions stored in a memory. And will not be described in detail below.
Exemplary apparatus
Fig. 4 is a schematic structural view of a sensor external parameter determining apparatus according to an exemplary embodiment of the present disclosure. The apparatus of this embodiment may be used to implement a corresponding method embodiment of the present disclosure, where the apparatus shown in fig. 4 includes: a first processing module 501, a second processing module 502, a third processing module 503, and a fourth processing module 504.
The first processing module 501 is configured to determine a vehicle state corresponding to each time frame based on the vehicle chassis information corresponding to each time frame in at least one time frame.
The second processing module 502 is configured to determine, in response to the vehicle state corresponding to each time frame satisfying the first preset condition, a target angular velocity bias based on the first angular velocities corresponding to each time frame measured by the inertial measurement unit.
The third processing module 503 is configured to correct, based on the target angular velocity bias, the second angular velocity corresponding to the target time frame measured by the inertial measurement unit, to obtain a third angular velocity corresponding to the target time frame, where the target time frame is a later time frame of the at least one time frame.
And a fourth processing module 504, configured to compensate the calibrated external parameter of the target sensor on the vehicle based on the third angular velocity in response to the third angular velocity meeting the second preset condition, and obtain the target external parameter of the target sensor corresponding to the target time frame.
Fig. 5 is a schematic structural view of a sensor external parameter determination device according to another exemplary embodiment of the present disclosure.
In an alternative embodiment, fourth processing module 504 includes: a first processing unit 5041, a second processing unit 5042, and a third processing unit 5043.
The first processing unit 5041 is configured to determine, based on the third angular velocity, a target angle variation corresponding to the target time frame in response to the pitch angle velocity component in the third angular velocity being greater than the first threshold and/or the roll angle velocity component being greater than the second threshold.
The second processing unit 5042 is configured to determine an external parameter compensation amount based on the target angle change amount.
The third processing unit 5043 is configured to compensate the calibrated external parameter of the target sensor based on the external parameter compensation amount, so as to obtain the target external parameter.
In an alternative embodiment, the vehicle chassis information includes a first yaw rate and a first speed; the first processing module 501 includes: a first determination unit 5011 and a second determination unit 5012.
The first determining unit 5011 is configured to determine, for any one time frame, that a vehicle state corresponding to the time frame is a stationary state in response to both the first yaw angle and the first speed of the time frame being 0.
The second determining unit 5012 is configured to determine, for any one time frame, that a vehicle state corresponding to the time frame is a constant velocity translational motion state in response to the first yaw angle of the time frame being 0, and the first speed of the time frame being the same as the first speed of a previous time frame.
In an alternative embodiment, the second processing module 502 includes: a fourth processing unit 5021 and a fifth processing unit 5022.
A fourth processing unit 5021, configured to determine an angular velocity average value based on first angular velocities respectively corresponding to the time frames in response to the vehicle state corresponding to each of the time frames being a stationary state or a uniform-velocity straight-movement state;
and a fifth processing unit 5022 for biasing the angular velocity average value as a target angular velocity.
In an alternative embodiment, the third processing module 503 includes: the sixth processing unit 5031 is configured to set a difference between the second angular velocity and the target angular velocity offset as a third angular velocity.
Specific operations of each module and unit in the apparatus provided in the embodiments of the present disclosure refer to the foregoing corresponding method embodiments, and are not described herein again.
The beneficial technical effects corresponding to the exemplary embodiments of the present apparatus may refer to the corresponding beneficial technical effects of the foregoing exemplary method section, and will not be described herein.
Exemplary electronic device
The embodiment of the disclosure also provides an electronic device, including: a memory for storing a computer program;
and a processor, configured to execute the computer program stored in the memory, and when the computer program is executed, implement the method for determining the sensor external parameter according to any one of the embodiments of the disclosure.
Fig. 6 is a schematic structural view of an application embodiment of the electronic device of the present disclosure. In this embodiment, the electronic device 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on a computer readable storage medium that can be executed by the processor 11 to implement the methods of the various embodiments of the present disclosure described above and/or other desired functions.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
For example, the input device 13 may be a microphone or a microphone array as described above for capturing an input signal of a sound source.
In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information to the outside, which may include, for example, a display, a speaker, a printer, and a communication network and a remote output apparatus connected thereto, etc.
Of course, only some of the components of the electronic device 10 relevant to the present disclosure are shown in fig. 6, with components such as buses, input/output interfaces, etc. omitted for simplicity. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer readable storage Medium
In addition to the methods and apparatus described above, embodiments of the present disclosure may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform steps in a method according to various embodiments of the present disclosure described in the "exemplary methods" section of the present description.
The computer program product may write program code for performing the operations of embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium, having stored thereon computer program instructions, which when executed by a processor, cause the processor to perform steps in a method according to various embodiments of the present disclosure described in the above section "exemplary method" of the present disclosure.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present disclosure have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present disclosure are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present disclosure. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, since the disclosure is not necessarily limited to practice with the specific details described.
Various modifications and alterations to this disclosure may be made by those skilled in the art without departing from the spirit and scope of this application. Thus, the present disclosure is intended to include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. A method of determining a sensor external parameter, comprising:
determining a vehicle state corresponding to each time frame based on the vehicle chassis information corresponding to each time frame in at least one time frame;
determining a target angular velocity bias based on the first angular velocities respectively corresponding to the time frames measured by the inertial measurement unit in response to the vehicle state respectively corresponding to the time frames satisfying a first preset condition;
correcting a second angular velocity corresponding to a target time frame measured by the inertial measurement unit based on the target angular velocity bias to obtain a third angular velocity corresponding to the target time frame, wherein the target time frame is a later time frame of the at least one time frame;
and responding to the third angular velocity meeting a second preset condition, and compensating the calibrated external parameters of the target sensor on the vehicle based on the third angular velocity to obtain the target external parameters of the target sensor corresponding to the target time frame.
2. The method of claim 1, wherein the compensating for the calibrated external parameters of the target sensor on the vehicle based on the third angular velocity in response to the third angular velocity satisfying a second preset condition, to obtain the target external parameters of the target sensor corresponding to the target time frame, comprises:
determining a target angle variation corresponding to the target time frame based on the third angular velocity in response to the pitch angle velocity component in the third angular velocity being greater than a first threshold and/or the roll angle velocity component being greater than a second threshold;
determining an external parameter compensation amount based on the target angle variation amount;
and compensating the calibrated external parameters of the target sensor based on the external parameter compensation quantity to obtain the target external parameters.
3. The method of claim 1, wherein the vehicle chassis information includes a first yaw rate and a first speed;
the determining, based on the vehicle chassis information respectively corresponding to each time frame in at least one time frame, the vehicle state respectively corresponding to each time frame includes:
for any time frame, determining that a vehicle state corresponding to the time frame is a stationary state in response to both the first yaw angle and the first speed of the time frame being 0; or alternatively, the process may be performed,
and in response to the first yaw angle of the time frame being 0, and the first speed of the time frame being the same as the first speed of a previous time frame, determining that the vehicle state corresponding to the time frame is a constant-speed straight-ahead motion state.
4. The method of claim 1, wherein the determining a target angular velocity bias based on the respective corresponding first angular velocities of the respective time frames measured by the inertial measurement unit in response to the vehicle state respectively corresponding to the time frames satisfying a first preset condition comprises:
determining an angular velocity average value based on the first angular velocities respectively corresponding to the time frames in response to the vehicle state corresponding to each of the time frames being a stationary state or a uniform straight motion state;
and taking the angular velocity average value as the target angular velocity bias.
5. The method according to claim 1, wherein the correcting the second angular velocity corresponding to the target time frame measured by the inertial measurement unit based on the target angular velocity bias to obtain the third angular velocity corresponding to the target time frame includes:
and taking the difference value of the second angular velocity and the target angular velocity offset as the third angular velocity.
6. A device for determining a sensor external parameter, comprising:
the first processing module is used for determining the vehicle state corresponding to each time frame based on the vehicle chassis information corresponding to each time frame in at least one time frame;
the second processing module is used for determining a target angular velocity bias based on the first angular velocities respectively corresponding to the time frames measured by the inertia measurement unit in response to the vehicle states respectively corresponding to the time frames meeting a first preset condition;
the third processing module is used for correcting the second angular velocity corresponding to the target time frame measured by the inertial measurement unit based on the target angular velocity bias to obtain a third angular velocity corresponding to the target time frame, wherein the target time frame is a later time frame of the at least one time frame;
and the fourth processing module is used for responding to the third angular velocity to meet a second preset condition, compensating the calibrated external parameters of the target sensor on the vehicle based on the third angular velocity, and obtaining the target external parameters of the target sensor corresponding to the target time frame.
7. The apparatus of claim 6, wherein the fourth processing module comprises:
a first processing unit, configured to determine a target angle variation corresponding to the target time frame based on the third angular velocity in response to a pitch angle velocity component in the third angular velocity being greater than a first threshold and/or a roll angle velocity component being greater than a second threshold;
the second processing unit is used for determining an external parameter compensation amount based on the target angle change amount;
and the third processing unit is used for compensating the calibrated external parameters of the target sensor based on the external parameter compensation quantity to obtain the target external parameters.
8. The apparatus of claim 6, wherein the vehicle chassis information includes a first yaw rate and a first speed; the first processing module includes:
a first determining unit, configured to determine, for any one of the time frames, that a vehicle state corresponding to the time frame is a stationary state in response to both the first yaw angle and the first speed of the time frame being 0; or alternatively, the process may be performed,
and a second determining unit, configured to determine, for any one of the time frames, that a vehicle state corresponding to the time frame is a uniform straight motion state in response to the first yaw angle of the time frame being 0 and the first speed of the time frame being the same as the first speed of a preceding time frame.
9. A computer-readable storage medium storing a computer program for executing the method of determining the sensor profile of any one of the preceding claims 1-5.
10. An electronic device, the electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method for determining the sensor profile of any one of claims 1-5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116499498A (en) * | 2023-06-28 | 2023-07-28 | 北京斯年智驾科技有限公司 | Calibration method and device of vehicle positioning equipment and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116499498A (en) * | 2023-06-28 | 2023-07-28 | 北京斯年智驾科技有限公司 | Calibration method and device of vehicle positioning equipment and electronic equipment |
| CN116499498B (en) * | 2023-06-28 | 2023-08-22 | 北京斯年智驾科技有限公司 | Calibration method and device of vehicle positioning equipment and electronic equipment |
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