CN116659544A - Automatic driving vehicle calibration device - Google Patents

Abstract

The invention relates to the technical field of sensor calibration, in particular to an automatic driving vehicle calibration device, which comprises a central track with scales, wherein a calibration reference object is arranged on the central track, a rack for placing a vehicle is arranged above the central track, a driving component for driving the vehicle to horizontally move in the extending direction of the central track and in the extending direction perpendicular to the central track is arranged on the rack, and a main positioning device is arranged above the rack and used for emitting positioning light vertically irradiated on the central track; the positioning light can be matched with the 0 degree line of the scale on the central track to carry out point location marking, so that the established calibration datum point on the vehicle can reach the corresponding point location to determine the vehicle position, and then the scale on the central track is utilized to determine the position of the calibration reference object, so that the calibration reference object and the vehicle calibration datum point can reach the required set distance for calibration, manual operation can be reduced, and the calibration efficiency can be improved.

Description

Automatic driving vehicle calibration device

Technical Field

The invention relates to the technical field of sensor calibration, in particular to an automatic driving vehicle calibration device.

Background

The sensor calibration is the basic requirement and life line of the automatic driving vehicle, the automatic driving sensor system mainly comprises a monocular camera, a binocular camera, a laser radar, a millimeter wave radar and the like, and the use scenes and the range are different in the whole calibrated three-dimensional space, and the accuracy of the system calibration is a determining factor for determining the accident occurrence probability of the vehicle in the subsequent application and popularization processes in the production process of the automatic driving vehicle.

The offline calibration of the automatic driving vehicle comprises radar calibration and camera calibration, and the current laser radar and millimeter wave radar calibration modes are as follows: (1) Searching a horizontal site, parking the vehicle at a set position, pulling a central line, enabling a three-dimensional intersection of a front windshield of the vehicle to correspond to the central line up and down, fixedly pasting the central line on the ground, and enabling the three-dimensional intersection of the front windshield of the vehicle to be a calibration reference point for calibrating a radar at the front part of the vehicle; (2) Finding out related distance points of 3 meters, 4 meters, 6 meters, 10 meters, 50 meters and the like based on the calibration reference points, and pasting marks on a central line based on the corresponding distance points to perform artificial point making; (3) Placing reference objects corresponding to the distance point marks, wherein the reference objects can adopt a calibration rod with a strong reflecting plate; (4) And initializing, calibrating, screening, storing, generating, uploading configuration files and the like based on each artificial point. The calibration modes of the existing monocular cameras and binocular cameras are as follows: (1) Searching a horizontal site with a lane line, centering the vehicle, pulling a central line, enabling a three-dimensional intersection point of a front windshield of the vehicle to correspond to the central line up and down, fixedly pasting the central line on the ground, and enabling the three-dimensional intersection point of the front windshield of the vehicle to be a calibration reference point for calibrating a camera of the vehicle; (2) Finding out related distance points of 8 meters, 12 meters, 16 meters, 20 meters and the like based on the calibration reference points, and pasting marks on a central line based on the corresponding distance points to perform artificial point making; (3) measuring the left-right and up-down distances of the camera by using a box ruler; (4) Calibrating the corresponding distance points by using a standard checkerboard; (5) And initializing, calibrating, screening, storing, generating, uploading configuration files and the like based on each artificial point.

However, because the manual calibration is adopted in the above calibration mode, the vehicle is parked, the center line is pulled and the reference object is placed by manual operation, more people are needed in the automatic driving vehicle calibration process, the calibration efficiency is low, the precision error is large, and the repeatability calibration is easy to occur.

Disclosure of Invention

The invention aims to provide an automatic driving vehicle calibration device so as to solve the problem that the existing automatic driving vehicle calibration efficiency is low.

The technical scheme of the automatic driving vehicle calibration device is as follows:

the utility model provides an automatic driving vehicle calibration device, includes the center track that has the scale, is equipped with the calibration reference thing on the center track, and the top of center track is equipped with the rack that is used for placing the vehicle, is equipped with the drive assembly who is used for driving the vehicle in center track extending direction and perpendicular to center track extending direction horizontal migration on the rack, and the rack top is equipped with main positioning device, and main positioning device is used for sending the location light of shining perpendicularly on center track.

The beneficial effects are that: through the cooperation of the center track that has the scale and rack, be convenient for remove the vehicle to the settlement position, utilize the perpendicular location light that main positioning device sent of rack top can carry out the point mark with the 0 degree line cooperation of scale on the center track to make the established calibration datum point on the vehicle reach corresponding point in order to confirm the vehicle position, the position of the calibration reference object is confirmed to the scale of reuse center track like this, can realize calibrating reference object and vehicle calibration datum point and reach the required settlement distance of demarcation, can reduce manual operation like this, be favorable to improving calibration efficiency.

Further, at least one side of the two sides of the central track is provided with a side track, and the rack is movably arranged on the side track.

The beneficial effects are that: the rack is arranged on the side rail in a moving way, so that the moving track of the rack is convenient to control, and the vehicle is convenient to drive to move to a set position.

Further, a transition track is arranged between the side track and the central track.

The beneficial effects are that: the transition track is used for connecting the side track and the central track, so that the calibration reference object can be subjected to position change between the side track and the central track, and the calibration of the camera on the vehicle can be facilitated.

Further, the side rail is provided with scales, and the scales on the side rail are consistent with the scales on the central rail.

The beneficial effects are that: the relative position of the rack is convenient to determine, and the position of the calibration reference object is convenient to determine when the calibration reference object is positioned on the side rail.

Further, a main positioning device bracket is movably arranged on the side rail, and the main positioning device is arranged on the main positioning device bracket.

The beneficial effects are that: the main positioning equipment can move along the track, so that the main positioning equipment is flexible to use and improves adaptability.

Further, the central track extends along the front-back direction, and calibration reference objects are arranged on the central track at the front side and the back side of the rack.

The beneficial effects are that: the calibration reference objects in front and behind the rack are utilized, so that the front and rear parts of the vehicle can be calibrated together, and the calibration efficiency can be improved.

Further, a first positioning device is arranged on the bench in a moving manner along the front-rear direction, the first positioning device is used for emitting first horizontal light corresponding to the calibration datum point at the rear part of the vehicle in the left-right direction, the rear part of the first positioning device is connected with a second positioning device through a connecting body with a set length, the second positioning device can be arranged in a moving manner in the front-rear direction, and the second positioning device is used for emitting second horizontal light corresponding to the calibration datum at the rear part of the vehicle in the left-right direction.

The beneficial effects are that: the distance between the calibration reference object at the rear of the vehicle and the calibration reference point at the rear of the vehicle can be determined through the cooperation of the first positioning device and the second positioning device, so that the vehicle calibration device is favorable for the calibration of vehicles with different lengths.

Further, the connector is provided with scales.

The beneficial effects are that: the position of the calibration reference behind the vehicle is conveniently changed by referring to the scale on the connector.

Further, the calibration reference object is at least one of a simulation robot, a calibration rod and a checkerboard, and the simulation robot is movably arranged on the central track.

The beneficial effects are that: the simulation robot moves along with the track, so that manual calibration of the manufactured points can be replaced, and the calibration accuracy is improved.

Further, the calibration bars and/or the checkerboard are of a folded structure.

The beneficial effects are that: through setting up to folding structure, can stand when using, fold when not using and be favorable to reducing manual handling operation on ground.

Drawings

FIG. 1 is a schematic view of an embodiment 1 of an autonomous vehicle calibration device according to the present invention;

fig. 2 is a top view of fig. 1.

In the figure: 100. a vehicle; 1. a stand; 2. a hydraulic device; 3. a scale track; 31. a central track; 32. a side rail; 4. a master positioning device; 5. a proximity switch; 6. a transition track; 7. simulating a robot; 8. calibrating a rod; 9. a checkerboard; 10. an air pressure device; 11. a range finder; 12. a first positioning device; 13. a second positioning device; 14. the support is moved.

Detailed Description

Embodiment 1 of the automatic driving vehicle calibration device of the present invention:

the automatic driving vehicle calibration device in the present embodiment is used for laser radar and millimeter wave radar calibration and monocular camera and binocular camera calibration of the automatic driving vehicle 100. As shown in fig. 1 and 2, the automatic driving vehicle calibration device comprises a scale track 3, a rack 1, a calibration reference object, a positioning device and a matched control device for personnel operation.

The scale track 3 includes a center track 31 and two side tracks 32 located on the left and right sides of the center track 31, the center track 31 and the side tracks 32 all extend in the front-rear direction, and the distances between the center track 31 and the side tracks 32 are equal. The front and rear ends of the central track 31 are respectively provided with a transition track 6, the transition track 6 is a C-shaped track, transition tracks 6 are respectively arranged between the two side tracks 32 and the central track 31, and the transition tracks 6 are smoothly connected with the central track 31 and the side tracks 32. The center rail 31 and the side rails 32 are provided with scales, the scales on the side rails 32 are consistent with the scales on the center rail 31, the 0-degree line of the scales is positioned at the position, close to the middle, of the corresponding rail, and the 0-degree line of the scales on the side rails 32 is opposite to the 0-degree line of the scales on the center rail 31. The scale on the track extends from 0 degrees to the front in the front direction of the vehicle 100, and the scale on the track extends to the front in the rear direction of the vehicle 100, in the right direction of the vehicle 100 in fig. 1.

The rack 1 is square, is equipped with the gyro wheel on the rack 1, and the gyro wheel has four and is located the four corners respectively, and each gyro wheel of rack 1 supports respectively on both sides limit track 32 to make rack 1 remove to set up on the side track 32 and be located the top of center track 31. The rack 1 is provided with a hydraulic device 2, the hydraulic device 2 is provided with a bearing table for placing the vehicle 100, the hydraulic device 2 is used for driving the vehicle 100 to move left and right, and the hydraulic device 2 forms a driving component on the rack 1 for driving the vehicle 100 to move horizontally in the extending direction perpendicular to the central track 31. The rack 1 is further provided with a front-rear driving device for driving the rollers to roll on the side rails 32, and the front-rear driving device forms a driving assembly on the rack 1 for driving the vehicle 100 to horizontally move in the extending direction of the central rail 31.

The side rails 32 are provided with moving brackets 14, the moving brackets 14 form a main positioning device bracket, the moving brackets 14 are of portal frame structures, the moving brackets 14 are supported on the side rails 32 at two sides and can move back and forth, the moving brackets 14 are provided with main positioning devices 4, the main positioning devices 4 are horizontal lasers, the main positioning devices 4 are arranged above the rack 1 and are located right above the central rails 31, the main positioning devices 4 are used for emitting positioning light rays which vertically irradiate on the central rails 31 along the up-down direction, and the positioning light rays can correspond to 0-degree lines on the central rails 31.

The front and rear sides of the stand 1 are respectively provided with a proximity switch 5, wherein the proximity switch 5 positioned in front of the stand 1 is used to be triggered when a calibration reference point of the front of the vehicle 100 reaches a position of 0 degree line corresponding to the scale in the front-rear direction so as to control the movement of the stand 1 forward and backward. The calibration reference point at the front of the vehicle 100 is the three-dimensional intersection of the front windshield of the vehicle 100, which is the highest point of the camber direction at the center position of the windshield. The front part of the rack 1 is also provided with a distance meter 11, and the distance meter 11 is used for detecting the distance between the distance meter and the proximity switch 5 and transmitting the detected distance information to the control equipment so as to facilitate the personnel to grasp the position of the rack 1.

The center rail 31 is provided with calibration references on the front and rear sides of the rack 1, and the front and rear calibration references of the rack 1 are utilized to facilitate the realization of the front and rear calibration of the vehicle 100, thereby facilitating the improvement of the calibration efficiency. The calibration reference objects comprise a simulation robot 7, a calibration rod 8 and a checkerboard 9, wherein the simulation robot 7, the calibration rod 8 and the checkerboard 9 are arranged on the front side and the rear side of the rack 1, the simulation robot 7 is movably arranged on a track and can move on a central track 31, a transition track 6 and a side track 32, so that position conversion between the side track 32 and the central track 31 is realized, and the side tracks 32 on the left side and the right side are used as lane lines, thereby facilitating calibration of cameras on the vehicle 100. The simulation robot 7 moves in cooperation with the track, can replace manual calibration of the manufactured points, and is beneficial to improving the calibration accuracy. The calibration rod 8 and the checkerboard 9 are of folding structures, the bottoms of the calibration rod 8 and the checkerboard 9 are respectively provided with an air pressure device 10, and the air pressure device 10 inflates the folding calibration rod 8 and the folding checkerboard 9, so that the folding calibration rod 8 and the folding checkerboard 9 can act, stand up when in use and fold on the ground when not in use, and manual carrying operation is reduced.

The rear part of the rack 1 is provided with a first positioning device 12, the first positioning device 12 is movably arranged on the rack 1 along the front-rear direction, the first positioning device 12 is used for emitting first horizontal light rays corresponding to the rear calibration datum point of the vehicle 100 in the left-right direction, namely, the first horizontal light rays horizontally emitted along the left-right direction can be positioned under the rear calibration datum point of the vehicle 100 by moving the first positioning device 12, the rear calibration datum point of the vehicle 100 is the three-dimensional intersection point of the rear windshield of the vehicle 100, the three-dimensional intersection point is the highest point of the arch direction at the central position of the windshield, and the windshield has a certain arch radian. The second positioning device 13 is connected to the rear of the first positioning device 12 through a connecting body with a set length, the connecting body is not shown in the diagram, the connecting body can be flexibly connected, the second positioning device 13 is arranged in a moving mode along the front-rear direction, the second positioning device 13 can be driven to move forwards and backwards through the connecting body when the first positioning device 12 moves forwards and backwards, a set distance is kept between the first positioning device 12 and the second positioning device 13 through the connecting body, the second positioning device 13 is used for emitting second horizontal light corresponding to the simulation robot 7 behind the vehicle 100 in the left-right direction, namely, the second horizontal light horizontally emitted by the second positioning device 13 along the left-right direction can be irradiated to the corresponding position of the simulation robot 7, so that the position of the simulation robot 7 can be determined by utilizing the second positioning device 13, and the distance between the first positioning device 12 and the second positioning device 13 can be equivalent to the distance between the simulation robot 7 and the calibration reference point at the rear of the vehicle 100, so that the calibration reference object at the rear of the vehicle 100 can be determined, and the calibration reference point at the rear of the vehicle 100 can be found when the vehicle 100 is used for calibrating the vehicle 100 with different lengths, namely, the distance between the calibration object at the rear of the vehicle 100 and the calibration reference point at the rear of the vehicle 100 can not be found. Moreover, the connecting body is provided with scales, and when data of a plurality of distances need to be measured, the position of the robot can be determined by referring to the scales on the connecting body. The first positioning device 12 and the second positioning device 13 are both level lasers.

When in use, the method specifically comprises the following calibration processes:

1) Selecting a proper place to place an automatic driving vehicle calibration device, placing the automatic driving vehicle 100 on the rack 1, opening the main positioning equipment 4 above the vehicle 100, and moving the main positioning equipment 4 to irradiate positioning light emitted by the main positioning equipment 4 to a 0-degree line of the scale of the central track 31;

2) For the front part of the calibrated vehicle 100, the front and back driving device on the rack 1 is utilized to enable the rack 1 to move back and forth in cooperation with the side rails 32, the hydraulic device 2 is started, the vehicle 100 on the rack 1 is driven to move by contrasting the positioning light, and the position of the calibration reference point on the front part of the vehicle 100 is checked to enable the calibration reference point to reach the position corresponding to the 0 degree line of the scale of the central rail 31; when the rack 1 moves forwards and backwards, the proximity switch 5 can enable the calibration datum point of the front part of the vehicle 100 on the rack 1 to reach the 0 degree line of the scale, and stop;

3) For the rear part of the calibrated vehicle 100, the main positioning device 4 is moved to enable the positioning light rays emitted by the main positioning device to vertically irradiate the calibration reference points at the rear part of the vehicle 100, and then the positioning light rays are compared, the first positioning device 12 is moved to enable the first horizontal light rays emitted by the main positioning device to vertically intersect with the positioning light rays, and at the moment, the first horizontal light rays are positioned right below the calibration reference points at the rear part of the vehicle 100;

4) The first positioning device 12 drags the second positioning device 13 to move through soft connection in the moving process, and the distance between the first positioning device 12 and the second positioning device 13 is the integer distance set by calibration;

5) Before calibrating the laser radar, folding a front folding calibration rod on the ground, starting an air pressure device at a preset integer position corresponding to the scale of the central track 31, supporting the folding calibration rod to stand, wherein the distance between the calibration rod and a calibration reference point at the front part of the vehicle is an integer distance set by calibration; the simulation robot replaces a calibration rod to serve as a reference object after the vehicle, the simulation robot is located on the center track, the simulation robot and the calibration rod are aligned left and right by comparing with second positioning light rays emitted by second positioning equipment, and at the moment, the distance between the simulation robot and a calibration reference point at the rear part of the vehicle is an integer distance set by calibration, so that accurate positioning of a calibration tool is completed;

6) The method comprises the steps of adjusting parameters of each laser radar by using a point cloud display tool, adjusting radar point clouds (heading angle > pitch angle > roll angle > z offset > x offset > y offset), slightly adjusting six parameters of each radar under the calibration effect of the point clouds under each view angle, enabling the position overlapping ratio of a plurality of laser radar point clouds and reference points to be higher, storing data after all radar parameters are adjusted, and completing calibration;

7) The single binocular camera is marked, left and right side rails 32 are used as lane lines, a front folding type checkerboard 9 is folded on the ground, an air pressure device 10 is started at an integer position designed corresponding to the scale of a central rail 31, the folding type checkerboard 9 is supported to stand, the angle of the binocular camera is manually adjusted by the checkerboard 9 by utilizing the pseudomyopia principle, and the marking is completed corresponding to the checkerboard 9;

8) The C-shaped track is connected with the central track 31 and the side track 32, an O-shaped track closed loop is formed in the front and the back of the rack 1, and the simulation robot 7 is moved in front of and behind the car to perform final calibration.

The rack is used for realizing quick adjustment and quick calibration according to the position of the calibrated vehicle, realizing automatic calibration according to the specific position of the automatic driving vehicle, avoiding the efficiency of influencing the normal calibration of the vehicle caused by manual operation and the like, reducing the calibration precision of the calibrated vehicle and improving the running safety of the automatic driving vehicle; when the radar and the single-binocular camera are calibrated, the checkerboard, the calibration rod and the like can be correspondingly adjusted, so that the rapid calibration is facilitated, and the influence on the normal calibration efficiency of the vehicle caused by manual carrying, lifting and the like can be avoided; the simulation robot and the track move in a matched manner, the initialization calibration, screening, storage, configuration file uploading and the like can be performed according to a set logic point, the manual calibration point can be replaced, the influence on the normal calibration accuracy of the vehicle is avoided, the calibration of a radar, a camera and the like can be completed rapidly and accurately once aiming at the vehicle provided with the automatic driving system, the manual operation is reduced, and the calibration efficiency is improved.

Example 2 of an automated driving vehicle calibration apparatus in the present invention:

the present embodiment is different from embodiment 1 in that both sides of the center rail in embodiment 1 are provided with side rails, respectively, on which the stage is movably disposed. In this embodiment, the rack is movably disposed on the ground without side rails.

Example 3 of the automatic driving vehicle calibration device in the present invention:

this embodiment differs from embodiment 1 in that a main positioning device holder is provided on the side rail in embodiment 1 in a movable manner, and the main positioning device is mounted on the main positioning device holder. In this embodiment, a main positioning device support is disposed on the ground, and the main positioning device is movably disposed on the main positioning device support.

Example 4 of an automated driving vehicle calibration apparatus in the present invention:

the present embodiment is different from embodiment 1 in that calibration references are provided on the center rail in embodiment 1 on both front and rear sides of the gantry. In this embodiment, the calibration reference is provided on the central track only on the front side of the gantry.

It should be noted that the above-mentioned embodiments are merely preferred embodiments of the present invention, and the present invention is not limited to the above-mentioned embodiments, but may be modified without inventive effort or equivalent substitution of some of the technical features thereof by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an automatic driving vehicle calibration device, its characterized in that, including the center track that has the scale, be equipped with the calibration reference thing on the center track, the top of center track is equipped with the rack that is used for placing the vehicle, is equipped with the drive assembly who is used for driving the vehicle in center track extending direction and perpendicular to center track extending direction horizontal migration on the rack, and the rack top is equipped with main locating device, and main locating device is used for sending the location light of perpendicular irradiation on the center track.

2. The autonomous vehicle calibration device defined in claim 1, wherein at least one of the sides of the central track is provided with side tracks on which the gantry is movably disposed.

3. The autopilot vehicle indexing arrangement of claim 2 wherein a transition track is provided between the side track and the center track.

4. An autonomous vehicle calibration device as claimed in claim 3, characterized in that the side rails are provided with graduations, the graduations on the side rails being identical to the graduations on the central rail.

5. The automatic pilot vehicle calibration device according to claim 2, wherein a main positioning device support is movably provided on the side rail, and the main positioning device is mounted on the main positioning device support.

6. The automated guided vehicle calibration device of any one of claims 1-5, wherein the central track extends in a fore-aft direction, and wherein calibration references are provided on the central track on both fore-aft sides of the gantry.

7. The automatic driving vehicle calibration device according to claim 6, wherein a first positioning device is provided on the rack to move in the front-rear direction, the first positioning device is configured to emit a first horizontal light corresponding to the calibration reference point at the rear of the vehicle in the left-right direction, a second positioning device is connected to the rear of the first positioning device through a connector of a set length, the second positioning device is configured to move forward and backward, and the second positioning device is configured to emit a second horizontal light corresponding to the calibration reference object at the rear of the vehicle in the left-right direction.

8. The automatic driving vehicle calibration device according to claim 7, wherein the connector is provided with a scale.

9. The automated guided vehicle calibration apparatus of any one of claims 1-5, wherein the calibration reference comprises at least one of a simulation robot, a calibration rod, and a checkerboard, and wherein the simulation robot is movably disposed on the central track.

10. An autonomous vehicle calibration device as claimed in claim 9, characterized in that the calibration bars and/or the checkerboard are of a folded construction.