CN116499498B - Calibration method and device of vehicle positioning equipment and electronic equipment - Google Patents
Calibration method and device of vehicle positioning equipment and electronic equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
- G01S19/235—Calibration of receiver components
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
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Abstract
The present disclosure provides a calibration method and apparatus for a vehicle positioning device, and an electronic device, by acquiring a translational offset of the positioning device relative to a vehicle body; determining a rear lateral out-parameter error of an auxiliary radar located on a rear side of the vehicle relative to the vehicle body; determining a lateral correction deviation of the positioning device relative to the vehicle body according to the rear lateral external parameter error and the translational offset; determining a front lateral out-parameter error of an auxiliary radar positioned on the front side of the vehicle relative to the vehicle body; determining a course correction deviation of the positioning equipment relative to the course of the vehicle body according to the front lateral external parameter error; and correcting the external parameters of the vehicle positioning equipment according to the transverse correction deviation and the heading correction deviation. The accuracy of external parameter calibration among multiple sensors of the vehicle can be improved.
Description
Technical Field
The disclosure relates to the technical field of sensor calibration, in particular to a calibration method and device of vehicle positioning equipment and electronic equipment.
Background
With the continuous development of technology, more and more automobiles adopt computer and sensor technologies, usually adopt radar and laser sensors to monitor the distance and speed of the front automobile, and combine map information and computer vision technologies to enable the automobiles to reach an unmanned state. To achieve unmanned driving, vehicles are often equipped with multiple sensors, so that spatial synchronization between the multiple sensors is required, i.e. the measured values in different sensor coordinate systems are converted into the same coordinate system. Sensor calibration is a basic requirement of automatic driving, and is also a basis of multi-sensor fusion, and the coordinate relation between the sensors and the conversion relation between the sensors and the whole vehicle coordinate system need to be determined first.
At present, a laser radar and GPS/IMU positioning equipment calibration method is generally adopted, particularly a hand-eye calibration method based on space rigidity, when the hand-eye calibration method is adopted, a vehicle is required to start to carry out 8-word detouring, and a laser radar odometer and a GPS/IMU positioning equipment odometer of the vehicle at the same time are recorded as input data. When the vehicle GPS/IMU positioning device and the vehicle body coordinate system are required to be consistent as much as possible during initial tooling, but due to the reasons that the vehicle GPS/IMU positioning device is not completely initialized and converged, the accumulated error of a long-distance laser radar odometer, satellite signals in a partially shielded environment are too bad, the GPS/IMU positioning device and the vehicle body have tiny installation deviation, the accumulated error of multiple external parameter node connection and the like, tiny errors exist in external parameter calibration, and the accumulation of the tiny errors can be displayed at a downstream node, so that threat is generated to automatic driving of the vehicle.
Disclosure of Invention
The embodiment of the disclosure at least provides a calibration method and device for vehicle positioning equipment and electronic equipment, which can improve the accuracy of external parameter calibration among multiple sensors of a vehicle.
The embodiment of the disclosure provides a calibration method of vehicle positioning equipment, which comprises the following steps:
acquiring a translation offset of the positioning equipment relative to the vehicle body;
determining a rear lateral out-parameter error of an auxiliary radar located on a rear side of the vehicle relative to the vehicle body;
determining a lateral correction deviation of the positioning device relative to the vehicle body according to the rear lateral external parameter error and the translational offset;
determining a front lateral out-parameter error of an auxiliary radar positioned on the front side of the vehicle relative to the vehicle body;
determining a course correction deviation of the positioning equipment relative to the course of the vehicle body according to the front lateral external parameter error;
and correcting the external parameters of the vehicle positioning equipment according to the transverse correction deviation and the heading correction deviation.
In an alternative embodiment, the determining the rear lateral external parameter error of the auxiliary radar located at the rear side of the vehicle relative to the vehicle body specifically includes:
determining target coordinate relations of auxiliary radars arranged at four corners of a vehicle relative to the vehicle body;
determining a left rear lateral deviation of the auxiliary radar positioned at the left rear side of the vehicle relative to the vehicle body and a right rear lateral deviation of the auxiliary radar positioned at the right rear side relative to the vehicle body according to the target coordinate relation;
and determining the rear lateral external parameter error according to the difference value between the absolute value of the left rear lateral deviation and the absolute value of the right rear lateral deviation.
In an alternative embodiment, the target coordinate relationship is determined based on the steps of:
performing external parameter calibration between the auxiliary radars, and determining a first coordinate relationship between the auxiliary radars;
for each auxiliary radar, performing external parameter calibration on the auxiliary radar based on the positioning equipment, and determining a second coordinate relationship between the auxiliary radar and the positioning equipment;
constructing a coordinate conversion tree corresponding to the vehicle according to the first coordinate relation, the second coordinate relation and the translation offset;
and determining the target coordinate relation of each auxiliary radar relative to the vehicle body according to the coordinate transformation tree.
In an alternative embodiment, the determining the error of the lateral external parameter of the auxiliary radar on the front side of the vehicle relative to the front side of the vehicle body specifically includes:
updating the coordinate transformation tree by taking the transverse correction deviation as the translation offset;
according to the updated coordinate transformation tree, determining an updated coordinate relation of each auxiliary radar relative to the vehicle body;
determining a left front lateral deviation of the auxiliary radar positioned at the left front side of the vehicle relative to the vehicle body and a right front lateral deviation of the auxiliary radar positioned at the right front side relative to the vehicle body according to the updated coordinate relation;
and determining the front lateral external parameter error according to the difference value between the absolute value of the left front lateral deviation and the absolute value of the right front lateral deviation.
In an optional implementation manner, the method for determining the heading correction deviation of the positioning device relative to the heading of the vehicle body according to the front lateral external parameter error specifically includes:
acquiring a course offset angle of the positioning equipment relative to the vehicle body;
determining a corresponding error angle of the positioning equipment according to the front lateral external parameter error;
and determining the course correction deviation according to the error angle and the course deviation angle.
In an optional implementation manner, the determining the error angle corresponding to the positioning device according to the front lateral external parameter error specifically includes:
updating the target coordinate relationship according to the transverse correction deviation;
determining a left front longitudinal deviation of the auxiliary radar positioned at the left front side of the vehicle relative to the vehicle body and a right front longitudinal deviation of the auxiliary radar positioned at the right front side relative to the vehicle body according to the updated target coordinate relation;
determining a front side longitudinal external parameter error of the auxiliary radar positioned at the rear side of the vehicle relative to the vehicle body according to the left front longitudinal deviation and the right front longitudinal deviation;
and performing arctangent operation on the front lateral external parameter error and the front longitudinal external parameter error, and determining the error angle of the positioning equipment relative to the car body heading.
In an alternative embodiment, the difference between the translational offset and the posterior lateral out-parameter error is determined as the lateral correction deviation;
and determining the difference between the course deviation angle and the error angle as the course correction deviation.
The embodiment of the disclosure also provides a calibration device of the vehicle positioning device, comprising:
the acquisition module is used for acquiring the translation offset of the positioning equipment relative to the vehicle body;
a rear-side lateral-outside-parameter error determination module for determining a rear-side lateral-outside-parameter error of an auxiliary radar located at a rear side of a vehicle with respect to the vehicle body;
a lateral correction deviation determining module 430, configured to determine a lateral correction deviation of the positioning device relative to the vehicle body according to the rear lateral parameter error and the translational offset;
a front side lateral outside reference error determination module for determining a front side lateral outside reference error of an auxiliary radar located on a front side of a vehicle with respect to the vehicle body;
the course correction deviation determining module is used for determining the course correction deviation of the positioning equipment relative to the car body course according to the front lateral external parameter error;
and the calibration correction module is used for correcting the external parameters of the vehicle positioning equipment according to the transverse correction deviation and the heading correction deviation.
The embodiment of the disclosure also provides an electronic device, including: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of any one of the possible embodiments of the above-described location detection method, or the calibration method of the above-described vehicle location device.
The disclosed embodiments also provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of any one of the possible implementation of the above-described positioning detection method, or the above-described calibration method of a vehicle positioning device.
The disclosed embodiments also provide a computer program product comprising a computer program/instructions which, when executed by a processor, implement the above-described positioning detection method, or steps in any one of the possible implementation manners of the above-described calibration method of a vehicle positioning device.
According to the calibration method and device for the vehicle positioning equipment and the electronic equipment, the translational offset of the positioning equipment relative to the vehicle body is obtained; determining a rear lateral out-parameter error of an auxiliary radar located on a rear side of the vehicle relative to the vehicle body; determining a lateral correction deviation of the positioning device relative to the vehicle body according to the rear lateral external parameter error and the translational offset; determining a front lateral out-parameter error of an auxiliary radar positioned on the front side of the vehicle relative to the vehicle body; determining a course correction deviation of the positioning equipment relative to the course of the vehicle body according to the front lateral external parameter error; and correcting the external parameters of the vehicle positioning equipment according to the transverse correction deviation and the heading correction deviation. The accuracy of external parameter calibration among multiple sensors of the vehicle can be improved.
The foregoing objects, features and advantages of the disclosure will be more readily apparent from the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for the embodiments are briefly described below, which are incorporated in and constitute a part of the specification, these drawings showing embodiments consistent with the present disclosure and together with the description serve to illustrate the technical solutions of the present disclosure. It is to be understood that the following drawings illustrate only certain embodiments of the present disclosure and are therefore not to be considered limiting of its scope, for the person of ordinary skill in the art may admit to other equally relevant drawings without inventive effort.
FIG. 1 illustrates a flow chart of a method for calibrating a vehicle positioning apparatus provided by an embodiment of the present disclosure;
FIG. 2 is a flow chart of a method for determining a backside lateral out-parameter error provided by an embodiment of the present disclosure;
FIG. 3 is a flow chart of a method for determining a front side cross-reference error provided by an embodiment of the present disclosure;
FIG. 4 shows a schematic diagram of a calibration apparatus for a vehicle positioning device provided by an embodiment of the present disclosure;
fig. 5 shows a schematic diagram of an electronic device provided by an embodiment of the disclosure.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. The components of the embodiments of the present disclosure, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be made by those skilled in the art based on the embodiments of this disclosure without making any inventive effort, are intended to be within the scope of this disclosure.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The term "and/or" is used herein to describe only one relationship, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
According to research, at present, a laser radar and GPS/IMU positioning equipment calibration method is generally adopted, particularly a hand-eye calibration method based on space rigidity, when the hand-eye calibration method is adopted, a vehicle needs to be started to carry out 8-word detouring, and a laser radar odometer and a GPS/IMU positioning equipment odometer of the same time of the vehicle are recorded as input data. When the vehicle GPS/IMU positioning device and the vehicle body coordinate system are required to be consistent as much as possible during initial tooling, but due to the reasons that the vehicle GPS/IMU positioning device is not completely initialized and converged, the accumulated error of a long-distance laser radar odometer, satellite signals in a partially shielded environment are too bad, the GPS/IMU positioning device and the vehicle body have tiny installation deviation, the accumulated error of multiple external parameter node connection and the like, tiny errors exist in external parameter calibration, and the accumulation of the tiny errors can be displayed at a downstream node, so that threat is generated to automatic driving of the vehicle.
Based on the above researches, the present disclosure provides a calibration method and apparatus for a vehicle positioning device, and an electronic device, by acquiring a translational offset of the positioning device relative to a vehicle body; determining a rear lateral out-parameter error of an auxiliary radar located on a rear side of the vehicle relative to the vehicle body; determining a lateral correction deviation of the positioning device relative to the vehicle body according to the rear lateral external parameter error and the translational offset; determining a front lateral out-parameter error of an auxiliary radar positioned on the front side of the vehicle relative to the vehicle body; determining a course correction deviation of the positioning equipment relative to the course of the vehicle body according to the front lateral external parameter error; and correcting the external parameters of the vehicle positioning equipment according to the transverse correction deviation and the heading correction deviation. The accuracy of external parameter calibration among multiple sensors of the vehicle can be improved.
For the sake of understanding the present embodiment, first, a detailed description will be given of a calibration method of a vehicle positioning device disclosed in the present embodiment, where an execution subject of the calibration method of a vehicle positioning device provided in the present embodiment is generally a computer device having a certain computing capability, and the computer device includes, for example: the terminal device, or server or other processing device, may be a User Equipment (UE), mobile device, user terminal, cellular telephone, cordless telephone, personal digital assistant (Personal Digital Assistant, PDA), handheld device, computing device, vehicle mounted device, wearable device, etc. In some possible implementations, the calibration method of the vehicle positioning device may be implemented by a processor calling computer readable instructions stored in a memory.
Referring to fig. 1, a flowchart of a calibration method of a vehicle positioning device according to an embodiment of the disclosure is shown, where the method includes steps S101 to S106, where:
s101, acquiring the translational offset of the positioning device relative to the vehicle body.
In a specific implementation, the translational offset between the positioning device of the vehicle and the vehicle body is obtained by a manual measurement mode.
Wherein the positioning device may be a GPS/IMU positioning device of the vehicle.
Here, the translational offset may be a lateral translational offset of the GPS/IMU positioning device in a right-hand coordinate system with the center of the 2-3 axis of the vehicle as the origin, and the heading of the vehicle being parallel to the forward direction of the head, compared to the center point position of the chassis of the vehicle.
S102, determining a rear lateral external parameter error of an auxiliary radar positioned at the rear side of the vehicle relative to the vehicle body.
In this step, auxiliary radars are provided at four sides of the vehicle, i.e., the left front side, the right front side, the left rear side, and the right rear side of the vehicle, lateral deviations of the auxiliary radars located at the left rear side and the right rear side of the vehicle with respect to the vehicle body are determined, respectively, and further, lateral outside parameter errors of the auxiliary radars located at the rear side of the vehicle with respect to the rear side of the vehicle body are determined based on lateral outside parameter deviations of the auxiliary radars located at the left rear side of the vehicle with respect to the vehicle body and lateral outside parameter deviations of the auxiliary radars not located at the right rear side of the vehicle with respect to the vehicle body.
Specifically, the determination method for the rear lateral external parameter error of the auxiliary radar located at the rear side of the vehicle relative to the rear lateral external parameter error of the vehicle body is provided for the embodiment of the disclosure, and includes steps S1021 to S1023:
s1021, determining the target coordinate relation of auxiliary radars arranged on four sides of the vehicle relative to the vehicle body.
Here, the target coordinate relationship of the auxiliary radar provided on the four sides of the vehicle with respect to the vehicle body can be achieved by the following steps 1 to 4:
and step 1, performing external parameter calibration between the auxiliary radars, and determining a first coordinate relation between the auxiliary radars.
And 2, aiming at each auxiliary radar, performing external parameter calibration on the auxiliary radar based on the positioning equipment, and determining a second coordinate relation between the auxiliary radar and the positioning equipment.
And 3, constructing a coordinate transformation tree corresponding to the vehicle according to the first coordinate relation, the second coordinate relation and the translation offset.
And 4, determining the target coordinate relation of each auxiliary radar relative to the vehicle body according to the coordinate transformation tree.
In specific implementation, firstly, through a multi-radar calibration program, external parameter relations among auxiliary radars positioned at four sides of a vehicle are calibrated, and coordinate relations among the auxiliary radars positioned at the left front side, the right front side, the left rear side and the right rear side of the vehicle are determined to be first coordinate relations.
And then, calibrating out the external parameter relation between the auxiliary radar and the vehicle positioning equipment aiming at each auxiliary radar, and determining the coordinate relation between the auxiliary radar and the positioning equipment as a second coordinate relation.
Here, an existing hand-eye calibration method can be adopted to calibrate the external parameter relationship between the auxiliary radar and the positioning device.
Further, a coordinate transformation tree reflecting the coordinate relation among all sensors of the whole vehicle, namely a tf transformation tree, can be constructed by combining the translational offset of the vehicle positioning equipment compared with the vehicle body after determining the first coordinate relation among the external parameters of the auxiliary radar and the second coordinate relation among the external parameters of the vehicle positioning equipment.
Here, the coordinate transformation tree defines the external reference relationship of the auxiliary radar and the positioning device with respect to the vehicle body in the vehicle.
And S1022, determining left rear transverse deviation of the auxiliary radar positioned at the left rear side of the vehicle relative to the vehicle body and right rear transverse deviation of the auxiliary radar positioned at the right rear side relative to the vehicle body according to the target coordinate relation.
In a specific implementation, a left rear lateral deviation of the auxiliary radar located on the left rear side of the vehicle from the vehicle body and a right rear lateral deviation of the auxiliary radar located on the right rear side from the vehicle body are determined based on an external reference relationship between the auxiliary radar and the vehicle body defined in the coordinate conversion tree.
S1023, determining the rear lateral external parameter error according to the difference value between the absolute value of the left rear lateral deviation and the absolute value of the right rear lateral deviation.
S103, determining the transverse correction deviation of the positioning equipment relative to the vehicle body according to the rear transverse external parameter error and the translation offset.
In a specific implementation, after the rear lateral outside parameter error of the auxiliary radar positioned at the rear side of the vehicle relative to the vehicle body is acquired, the transverse deviation relation between the vehicle body and the vehicle positioning device is repaired according to the rear lateral outside parameter error.
Here, the difference between the translational offset and the rear-side lateral external parameter error is determined as a lateral correction deviation, which may be expressed specifically as:
Y_Ins_BaseGround_corrected=Y_Ins_BaseGround-Y_rear_error
wherein Y_Ins_BaseGround_corrected represents the lateral correction deviation; Y_ins_BaseGroud represents the translational offset; y_rear_error represents the rear lateral outlier error.
S104, determining the lateral external parameter error of the auxiliary radar positioned at the front side of the vehicle relative to the front side of the vehicle body.
In the step, the transverse correction deviation is substituted into a coordinate transformation tree, the external reference coordinate relation between the auxiliary radar and the vehicle positioning equipment defined in the coordinate transformation tree is updated, the updated observation results of the auxiliary radar and the vehicle positioning equipment under the vehicle body are obtained, and the coordinate relation between the auxiliary radar and the vehicle body in the updated coordinate transformation tree is used for determining the transverse external reference error of the auxiliary radar positioned at the front side of the vehicle relative to the front side of the vehicle body.
Specifically, the method for determining the front lateral external parameter error of the auxiliary radar located at the front side of the vehicle relative to the front lateral external parameter error of the vehicle body is provided in the embodiment of the disclosure, as shown in fig. 3, and includes steps S1041 to S1044:
s1041, using the transverse correction deviation as the translation offset, and updating the coordinate transformation tree.
Here, the lateral correction deviation is substituted as the translational offset into the coordinate conversion tree, and the external reference coordinate relationship between the auxiliary radar and the vehicle positioning device defined in the coordinate conversion tree is updated, so that the updated coordinate conversion tree is obtained.
S1042, determining the updated coordinate relation of each auxiliary radar relative to the vehicle body according to the updated coordinate conversion tree.
S1043, determining left front transverse deviation of the auxiliary radar positioned at the left front side of the vehicle relative to the vehicle body and right front transverse deviation of the auxiliary radar positioned at the right front side relative to the vehicle body according to the updated coordinate relation.
In a specific implementation, the left front lateral deviation of the auxiliary radar located on the left front side of the vehicle with respect to the vehicle body and the right front lateral deviation of the auxiliary radar located on the right front side with respect to the vehicle body are based on the updated coordinate relation between the auxiliary radar and the vehicle body defined in the updated coordinate transformation tree.
S1044, determining the front lateral external parameter error according to the difference value between the absolute value of the left front lateral deviation and the absolute value of the right front lateral deviation.
S105, determining the course correction deviation of the positioning equipment relative to the car body course according to the front lateral external parameter error.
In a specific implementation, acquiring a heading offset angle of the positioning equipment relative to a vehicle body; determining a corresponding error angle of the positioning equipment according to the front lateral external parameter error; and determining the course correction deviation according to the error angle and the course deviation angle.
Specifically, the error angle corresponding to the positioning device may be determined based on the following steps 1-4:
and step 1, updating the target coordinate relation according to the transverse correction deviation.
And 2, determining left front longitudinal deviation of the auxiliary radar positioned at the left front side of the vehicle relative to the vehicle body and right front longitudinal deviation of the auxiliary radar positioned at the right front side relative to the vehicle body according to the updated target coordinate relation.
And 3, determining a front side longitudinal external parameter error of the auxiliary radar positioned at the rear side of the vehicle relative to the vehicle body according to the left front longitudinal deviation and the right front longitudinal deviation.
And 4, performing arctangent operation on the front lateral external parameter error and the front longitudinal external parameter error, and determining the error angle of the positioning equipment relative to the car body heading.
Note that, the updating of the target coordinate relationship is the same as in step S104, and reference may be made to the embodiment of updating the target coordinate relationship in step S104 described above.
Here, the error angle corresponding to the positioning device can be calculated by the following formula:
Yaw_ErrorAngle=atan(abs((Y_front_error))/((abs(X_LidarRightFront_BaseGround)+abs(X_LidarLeftFront_BaseGround))))/2
wherein, yaw_Errorangle represents the error angle corresponding to the positioning device; y_front_error represents the front lateral outlier error; X_LidarRINGtFront_BaseGroud represents the right front longitudinal offset of the auxiliary radar on the right front side of the vehicle relative to the vehicle body; X_LidarLeftfront_BaseGroud represents the left front longitudinal offset of the auxiliary radar on the left front side of the vehicle relative to the vehicle body; abs represents absolute value; atan stands for arctangent operation.
Further, determining a difference between the translation offset and the rear lateral external parameter error as a lateral correction deviation; and determining the difference between the heading deviation angle and the error angle as a heading correction deviation.
S106, correcting the external parameters of the vehicle positioning equipment according to the transverse correction deviation and the heading correction deviation.
According to the calibration method of the vehicle positioning equipment, provided by the embodiment of the disclosure, the translational offset of the positioning equipment relative to the vehicle body is obtained; determining a rear lateral out-parameter error of an auxiliary radar located on a rear side of the vehicle relative to the vehicle body; determining a lateral correction deviation of the positioning device relative to the vehicle body according to the rear lateral external parameter error and the translational offset; determining a front lateral out-parameter error of an auxiliary radar positioned on the front side of the vehicle relative to the vehicle body; determining a course correction deviation of the positioning equipment relative to the course of the vehicle body according to the front lateral external parameter error; and correcting the external parameters of the vehicle positioning equipment according to the transverse correction deviation and the heading correction deviation. The accuracy of external parameter calibration among multiple sensors of the vehicle can be improved.
It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.
Based on the same inventive concept, the embodiments of the present disclosure further provide a calibration device for a vehicle positioning device corresponding to the calibration method for a vehicle positioning device, and since the principle of solving the problem of the device in the embodiments of the present disclosure is similar to that of the calibration method for a vehicle positioning device in the embodiments of the present disclosure, the implementation of the device may refer to the implementation of the method, and the repetition is omitted.
Referring to fig. 4, fig. 4 is a schematic diagram of a calibration device of a vehicle positioning apparatus according to an embodiment of the disclosure. As shown in fig. 4, a calibration apparatus 400 of a vehicle positioning device provided by an embodiment of the present disclosure includes:
an acquisition module 410 for acquiring a translational offset of the positioning device relative to the vehicle body.
A rear lateral-reference-error determination module 420 for determining a rear lateral-reference error of the auxiliary radar located at the rear of the vehicle with respect to the vehicle body.
And a lateral correction deviation determining module 430, configured to determine a lateral correction deviation of the positioning device relative to the vehicle body according to the rear lateral parameter error and the translational offset.
A front lateral-out error determination module 440 for determining a front lateral-out error of the auxiliary radar located on the front side of the vehicle with respect to the vehicle body.
And the course correction deviation determining module 450 is used for determining the course correction deviation of the positioning equipment relative to the car body course according to the front lateral external parameter error.
The calibration correction module 460 is configured to correct the external parameter of the vehicle positioning device according to the lateral correction deviation and the heading correction deviation.
The process flow of each module in the apparatus and the interaction flow between the modules may be described with reference to the related descriptions in the above method embodiments, which are not described in detail herein.
According to the calibration device of the vehicle positioning equipment, provided by the embodiment of the disclosure, the translational offset of the positioning equipment relative to the vehicle body is obtained; determining a rear lateral out-parameter error of an auxiliary radar located on a rear side of the vehicle relative to the vehicle body; determining a lateral correction deviation of the positioning device relative to the vehicle body according to the rear lateral external parameter error and the translational offset; determining a front lateral out-parameter error of an auxiliary radar positioned on the front side of the vehicle relative to the vehicle body; determining a course correction deviation of the positioning equipment relative to the course of the vehicle body according to the front lateral external parameter error; and correcting the external parameters of the vehicle positioning equipment according to the transverse correction deviation and the heading correction deviation. The accuracy of external parameter calibration among multiple sensors of the vehicle can be improved.
Corresponding to the methods in fig. 1-3, the embodiment of the disclosure further provides an electronic device 500, as shown in fig. 5, which is a schematic structural diagram of the electronic device 500 provided in the embodiment of the disclosure, including:
a processor 51, a memory 52, and a bus 53; memory 52 is used to store execution instructions, including memory 521 and external storage 522; the memory 521 is also referred to as an internal memory, and is used for temporarily storing operation data in the processor 51 and data exchanged with the external memory 522 such as a hard disk, and the processor 51 exchanges data with the external memory 522 through the memory 521, and when the electronic device 500 is operated, the processor 51 and the memory 52 communicate with each other through the bus 53, so that the processor 51 performs the steps of the method in fig. 1-3.
The disclosed embodiments also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the calibration method of a vehicle positioning device described in the above method embodiments. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.
The embodiments of the present disclosure further provide a computer program product, where the computer program product includes computer instructions, where the computer instructions, when executed by a processor, may perform the steps of the calibration method of the vehicle positioning device described in the foregoing method embodiments, and specifically, reference may be made to the foregoing method embodiments, which are not repeated herein.
Wherein the above-mentioned computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.
It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the apparatus described above, which is not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in essence or a part contributing to the prior art or a part of the technical solution, or in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present disclosure, and are not intended to limit the scope of the disclosure, but the present disclosure is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, it is not limited to the disclosure: any person skilled in the art, within the technical scope of the disclosure of the present disclosure, may modify or easily conceive changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features thereof; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the disclosure, and are intended to be included within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A method of calibrating a vehicle positioning device, comprising:
acquiring a translation offset of the positioning equipment relative to the vehicle body;
determining a rear lateral out-parameter error of an auxiliary radar located on a rear side of the vehicle relative to the vehicle body;
determining a lateral correction deviation of the positioning device relative to the vehicle body according to the rear lateral external parameter error and the translational offset;
determining a front lateral out-parameter error of an auxiliary radar positioned on the front side of the vehicle relative to the vehicle body;
determining a course correction deviation of the positioning equipment relative to the course of the vehicle body according to the front lateral external parameter error;
and correcting the external parameters of the vehicle positioning equipment according to the transverse correction deviation and the heading correction deviation.
2. The method according to claim 1, wherein said determining a rear lateral camber error of an auxiliary radar located at a rear side of the vehicle relative to the vehicle body, in particular comprises:
determining target coordinate relations of auxiliary radars arranged at four corners of a vehicle relative to the vehicle body;
determining a left rear lateral deviation of the auxiliary radar positioned at the left rear side of the vehicle relative to the vehicle body and a right rear lateral deviation of the auxiliary radar positioned at the right rear side relative to the vehicle body according to the target coordinate relation;
and determining the rear lateral external parameter error according to the difference value between the absolute value of the left rear lateral deviation and the absolute value of the right rear lateral deviation.
3. The method of claim 2, wherein the target coordinate relationship is determined based on the steps of:
performing external parameter calibration between the auxiliary radars, and determining a first coordinate relationship between the auxiliary radars;
for each auxiliary radar, performing external parameter calibration on the auxiliary radar based on the positioning equipment, and determining a second coordinate relationship between the auxiliary radar and the positioning equipment;
constructing a coordinate conversion tree corresponding to the vehicle according to the first coordinate relation, the second coordinate relation and the translation offset;
and determining the target coordinate relation of each auxiliary radar relative to the vehicle body according to the coordinate transformation tree.
4. A method according to claim 3, characterized in that said determining the error of the lateral external reference of the auxiliary radar on the front side of the vehicle with respect to the front side of the vehicle body comprises in particular:
updating the coordinate transformation tree by taking the transverse correction deviation as the translation offset;
according to the updated coordinate transformation tree, determining an updated coordinate relation of each auxiliary radar relative to the vehicle body;
determining a left front lateral deviation of the auxiliary radar positioned at the left front side of the vehicle relative to the vehicle body and a right front lateral deviation of the auxiliary radar positioned at the right front side relative to the vehicle body according to the updated coordinate relation;
and determining the front lateral external parameter error according to the difference value between the absolute value of the left front lateral deviation and the absolute value of the right front lateral deviation.
5. The method according to claim 2, wherein the determining a heading correction deviation of the positioning device relative to a car body heading according to the front lateral-out parameter error comprises:
acquiring a course offset angle of the positioning equipment relative to the vehicle body;
determining a corresponding error angle of the positioning equipment according to the front lateral external parameter error;
and determining the course correction deviation according to the error angle and the course deviation angle.
6. The method according to claim 5, wherein the determining the error angle corresponding to the positioning device according to the front lateral parameter error specifically includes:
updating the target coordinate relationship according to the transverse correction deviation;
determining a left front longitudinal deviation of the auxiliary radar positioned at the left front side of the vehicle relative to the vehicle body and a right front longitudinal deviation of the auxiliary radar positioned at the right front side relative to the vehicle body according to the updated target coordinate relation;
determining a front side longitudinal external parameter error of the auxiliary radar positioned at the rear side of the vehicle relative to the vehicle body according to the left front longitudinal deviation and the right front longitudinal deviation;
and performing arctangent operation on the front lateral external parameter error and the front longitudinal external parameter error, and determining the error angle of the positioning equipment relative to the car body heading.
7. The method according to claim 5, wherein:
determining a difference between the translational offset and the rear lateral extrinsic error as the lateral correction bias;
and determining the difference between the course deviation angle and the error angle as the course correction deviation.
8. A calibration device for a vehicle positioning apparatus, comprising:
the acquisition module is used for acquiring the translation offset of the positioning equipment relative to the vehicle body;
a rear-side lateral-outside-parameter error determination module for determining a rear-side lateral-outside-parameter error of an auxiliary radar located at a rear side of a vehicle with respect to the vehicle body;
the transverse correction deviation determining module is used for determining the transverse correction deviation of the positioning equipment relative to the vehicle body according to the rear side transverse external parameter error and the translation offset;
a front side lateral outside reference error determination module for determining a front side lateral outside reference error of an auxiliary radar located on a front side of a vehicle with respect to the vehicle body;
the course correction deviation determining module is used for determining the course correction deviation of the positioning equipment relative to the car body course according to the front lateral external parameter error;
and the calibration correction module is used for correcting the external parameters of the vehicle positioning equipment according to the transverse correction deviation and the heading correction deviation.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory in communication over the bus when the electronic device is running, the machine readable instructions when executed by the processor performing the steps of the method of calibrating a vehicle positioning device according to any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the method of calibrating a vehicle positioning device according to any of claims 1 to 7.
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