CN117492031A - On-line detection method and system for pose offset of vehicle-mounted ranging sensor - Google Patents
On-line detection method and system for pose offset of vehicle-mounted ranging sensor Download PDFInfo
- Publication number
- CN117492031A CN117492031A CN202311527763.7A CN202311527763A CN117492031A CN 117492031 A CN117492031 A CN 117492031A CN 202311527763 A CN202311527763 A CN 202311527763A CN 117492031 A CN117492031 A CN 117492031A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- calibration
- calibration laser
- ranging sensor
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 5
- 230000005856 abnormality Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000004069 differentiation Effects 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract 1
- 239000011159 matrix material Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an on-line detection method and system for pose offset of a vehicle-mounted ranging sensor, and the method is suitable for on-line detection of relative pose offset of a parking space ranging sensor. The working points of the proposed method are as follows: the three-dimensional coordinates of the calibration laser points are measured by each vehicle-mounted ranging sensor through the calibration laser projected onto the road surface, the three-dimensional coordinates of the calibration laser points measured by each ranging sensor are unified to be under a coordinate system, and the pose offset of the vehicle-mounted ranging sensor is quantized according to the difference value of the unified geometric feature formed by the calibration laser points among different vehicle-mounted ranging sensors, so that whether the pose offset of the vehicle-mounted ranging sensor is overlarge or not is judged. The method disclosed by the invention does not need expensive standard components or any environmental characteristics, and is simple to implement and high in anti-interference capability.
Description
Technical Field
The invention belongs to the field of automobile auxiliary driving, and particularly relates to an on-line detection method and system for pose offset of a vehicle-mounted ranging sensor.
Background
In recent years, with the rapid development of sensing and image processing technologies, driving assistance technologies have been significantly improved, and are increasingly used in the automotive field. The high-end new energy automobile manufactured at present is mostly provided with an auxiliary driving function, so that long-distance driving fatigue is reduced, and driving safety is improved. It is anticipated that driving assistance techniques, and even autopilot techniques, will become increasingly popular in the future.
The implementation of the auxiliary driving depends on the effective operation of the vehicle-mounted distance measuring sensor. This not only requires that the vehicle-mounted ranging sensor be able to effectively sense the three-dimensional morphology of the surrounding environment, but also requires that the pose of the vehicle-mounted ranging sensor be unable to change significantly relative to the vehicle body. In fact, the vehicle-mounted ranging sensor inevitably generates pose changes relative to the vehicle body in use due to vibration generated by road jolting, vehicle body deformation and other factors. If the pose changes too much, the three-dimensional perception of the space by the vehicle-mounted ranging sensor cannot be accurately fed back to the vehicle control system, and then potential safety hazards appear in the auxiliary driving function.
In order to detect possible pose offset of the vehicle-mounted distance measuring sensor, one way is to calibrate the vehicle-mounted sensor periodically through a standard part manufactured by manpower, and typical methods include an invention patent "automobile calibration device" applied by Shenzhen Dao Tongzhen technology Co., ltd and an invention patent "automobile sensor calibration device" applied by He multi-technology (Beijing) Co., ltd. Although the method has high calibration precision, the method needs to start the vehicle to a specified place for calibration, which causes cost increase and makes it difficult to timely detect possible pose offset of the vehicle-mounted ranging sensor. The other way is to realize the on-line calibration of the pose of the vehicle-mounted ranging sensor by means of the geometric features of the scene around the road, such as lane lines, billboard sizes and the like, and typical methods are as the method and equipment for calibrating the external parameters of the vehicle-mounted sensor in the patent of Hua as technology Co. This approach is effective on urban roads, but is difficult to apply on rural roads where the geometric objects are not significantly defined.
Disclosure of Invention
The invention provides a method and a system for detecting the pose offset of a vehicle-mounted ranging sensor on line, which are used for solving the problem that the pose offset of the current vehicle-mounted ranging sensor is difficult to detect effectively on line.
The invention discloses an on-line detection method for pose offset of a vehicle-mounted ranging sensor, which comprises the following steps:
step 1: fixing the calibration laser at a selected position of the vehicle;
step 2: when the calibration laser is turned on, the vehicle-mounted ranging sensor collects calibration laser point signals;
step 3: processing the calibration laser point signals acquired by the vehicle-mounted ranging sensor to obtain three-dimensional coordinates of a coverage area of the calibration laser point;
step 4: and solving the relative pose offset characteristic of the vehicle-mounted ranging sensor based on the three-dimensional coordinates of the coverage area of the calibration laser point.
Further, in step 1, the laser form emitted by the calibration laser has a spatial distinction, and the orientation of the calibration laser in the vehicle is selected according to the spatial field of view of the displacement sensor to be detected and is rigidly connected to the vehicle.
Further, in step 2, the vehicle-mounted ranging sensor includes a laser radar and a camera, and at least one landing point of the laser emitted by the calibration laser on the ground exists in a common field of view of any two ranging sensors.
In step 3, the laser radar realizes indirect measurement of the three-dimensional coordinates of the coverage area of the calibration laser point by detecting the interference caused by the laser emitted by the calibration laser; the indirect measurement process is as follows: in the scanning measurement process, the laser radar senses the abrupt light intensity increase or the ranging laser flight time abnormality caused by the calibration laser point, so as to realize the identification of the area and the measurement of the three-dimensional coordinates.
In step 3, after the camera collects the calibration laser point signals, the geometric center of the calibration laser point signals is extracted, and then the three-dimensional coordinates of the coverage area of the calibration laser point are obtained by means of the internal and external parameters of the camera or the triangular relationship between the camera and the calibration laser.
Further, in step 4, the in-vehicle ranging sensor relative pose offset features have the following typical categories:
unifying the actual measurement three-dimensional coordinates of at least two groups of calibration laser point characteristic points in the camera or the laser radar to the same coordinate system by means of the calibration parameters of the camera and the laser radar:
when only one calibration laser point characteristic point can be extracted, calibrating the distances among the three-dimensional coordinates of the laser point characteristic points by different vehicle-mounted distance measuring sensors in the same coordinate system, and taking the distances as the relative pose offset characteristics among the corresponding vehicle-mounted distance measuring sensors;
when two calibration laser point characteristic points can be extracted, adopting the offset characteristic of one calibration laser point characteristic point or the length difference between the two points measured by different vehicle-mounted distance measuring sensors as the relative pose offset characteristic between the corresponding vehicle-mounted distance measuring sensors;
when three or more calibration laser spot feature points can be extracted, the relative pose offset feature of one or two calibration laser spot feature points or the perimeter of a boundary line or an included angle between boundary lines formed by any three points or the area or the normal direction of a triangle defined by any three points is adopted as the relative pose offset feature between corresponding vehicle-mounted ranging sensors.
Further, when three or more calibration laser point feature points can be extracted, the relative pose offset feature of one or two calibration laser point feature points is taken as a first relative pose offset feature, the area or normal direction of a triangle defined by any three points, the perimeter of a side line formed by any points or the statistical feature of an included angle between the side lines is taken as a second relative pose offset feature, and the statistical feature of the first relative pose offset feature or the second relative pose offset feature is taken as the final relative pose offset feature between corresponding vehicle-mounted distance measuring sensors.
Further, after the step 4 is completed, judging whether the spatial pose offset of the corresponding vehicle-mounted ranging sensor exceeds the standard according to the relative pose offset characteristic of the vehicle-mounted ranging sensor.
Further, judging whether the space pose offset of the corresponding vehicle-mounted ranging sensor exceeds the standard or not, and comprehensively setting according to conditions such as the vehicle speed, the measured point position, the road condition and the like.
An on-vehicle ranging sensor pose offset on-line detection system, comprising:
the vehicle-mounted ranging sensor is used for collecting and calibrating laser point signals;
the processing module is used for: processing the calibration laser point signals acquired by the vehicle-mounted ranging sensor to obtain three-dimensional coordinates of a coverage area of the calibration laser point;
and an offset characteristic solving module: and solving the relative pose offset characteristic of the vehicle-mounted ranging sensor based on the three-dimensional coordinates of the coverage area of the calibration laser point.
Compared with the prior art, the invention has at least the following beneficial technical effects:
1. the invention adopts the laser to project the active mark, thereby avoiding the dependence of the existing method on the object with obvious characteristics on the road, being not influenced by road conditions, and being theoretically suitable for the on-line detection of the space pose offset of the vehicle-mounted ranging sensor under different scenes.
2. The relative pose offset characteristics of the vehicle-mounted ranging sensor obtained by the invention are composed of the ranging deviations among different sensors, and the ranging errors caused by the spatial pose offset of the vehicle-mounted ranging sensor can be directly quantized, so that the health state of the vehicle-mounted ranging sensor can be more accurately judged, including but not limited to the pose offset.
3. The cost of the calibration laser required by implementation is quite low, expensive standard components are not needed, and the calibration cost is reduced.
Drawings
FIG. 1 is a vehicle equipped with a master control system, camera, lidar, and calibration lasers;
fig. 2 is a schematic diagram of an on-line detection system for pose offset of a vehicle-mounted ranging sensor.
In the accompanying drawings: 1. the system comprises a calibration laser, 2, a first camera, 3, a laser radar, 4, a second camera, 5, a vehicle main control system, 6, a calibration laser spot, 7 and a vehicle.
Detailed Description
In order to make the purpose and technical scheme of the invention clearer and easier to understand. The present invention will now be described in further detail with reference to the drawings and examples, which are given for the purpose of illustration only and are not intended to limit the invention thereto.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, an on-line detection method for pose offset of a vehicle-mounted ranging sensor includes the following steps:
step 1: fixing the calibration laser at a selected position of the vehicle 7, and controlling the calibration laser to be opened and closed by a vehicle main control system;
step 2: when the calibration laser is turned on, the vehicle-mounted ranging sensor is controlled by the vehicle main control system to work, and the vehicle-mounted ranging sensor collects calibration laser point signals;
step 3: processing the calibrated laser spot signals acquired by the vehicle-mounted ranging sensor to obtain the three-dimensional coordinates of the area covered by the calibrated laser spot;
step 4: carrying out relative pose deviation characteristic solving of the vehicle-mounted ranging sensor based on three-dimensional coordinates of the coverage area of the calibration laser point;
step 5: and judging whether the space pose deviation of the corresponding vehicle-mounted ranging sensor exceeds the standard according to the solved relative pose deviation characteristics of the vehicle-mounted ranging sensor, and feeding back the space pose deviation to a vehicle main control system.
Further, in step 1, the number of the calibration lasers may be 1 or more, the laser form emitted by the calibration lasers must have a spatial distinction, such as a point laser, a line laser, a cross laser, etc., and the orientation of the calibration lasers in the vehicle needs to be selected according to the spatial field of view of the displacement sensor to be detected, and is rigidly connected to the vehicle.
In fig. 1, a case of loading 1 calibration laser is shown, and the emitted laser is a spot laser. The opening and closing of the calibration laser 1 is controlled by a vehicle main control system.
Further, in step 2, the vehicle-mounted ranging sensor includes a laser radar and two cameras, and at least one landing point (simply referred to as a calibration laser point) of the laser emitted by the calibration laser on the ground exists in a common field of view of any two ranging sensors.
The laser light emitted by the calibration laser 1 in fig. 1 falls on the ground to form a calibration laser spot 6, and the calibration laser spot 6 is located in the effective fields of view of the first camera 2, the second camera 4 and the laser radar 3 at the same time.
In step 3, the laser radar realizes indirect measurement of the three-dimensional coordinates of the coverage area of the calibration laser point by detecting the interference caused by the laser emitted by the calibration laser.
The indirect measurement is specifically implemented in such a way that, as shown in fig. 1, the laser radar 3 senses the steep light intensity increase or the ranging laser flight time abnormality caused by the calibration laser point 6 in the scanning measurement process, so as to further realize the measurement of the identification and the three-dimensional coordinates of the area, and if necessary, the point cloud difference value can be carried out to realize the solution of the three-dimensional coordinates of the coverage area of the calibration laser point. Wherein: the sharp light intensity increase means: the reflected light of the calibration laser point is overlapped with the laser emitted by the laser radar 3 and reflected back after being received by the laser radar 3, so that the actual detection light intensity of the laser radar is obviously increased, and the detection light intensity is at least 50% higher than that of an adjacent area. Wherein, range finding laser flight time anomaly means: the ranging laser flight time is smaller than the theoretical minimum value of the ranging laser flight time when the laser radar ranges.
After the first camera 2 and the second camera 4 collect the calibration laser point signals, the geometric center of the calibration laser point 6 is obtained through signal processing extraction, and then the coordinate (x) of the calibration laser point 6 under the coordinate system of the first camera 2 can be calculated by means of the internal and external parameters of the first camera 2 and the second camera 4 obtained through calibration in advance c1 ,y c1 ,z c1 ) And the coordinates (x) in the second camera 4 coordinate system c2 ,y c2 ,z c2 ). Of course, if the triangular relationship between the first camera 2 and the calibration laser 1 and the triangular relationship between the second camera 4 and the calibration laser 1 are all calibrated, then the coordinates (x) of the calibration laser point 6 in the coordinate system of the first camera 2 and the second camera 4 can also be obtained by means of the triangular relationship c1 ,y c1 ,z c1 )、(x c2 ,y c2 ,z c2 ). Since the laser radar 3 itself has a three-dimensional sensing function, the measured coordinates of the calibration laser point 6 are set to (x) l1 ,y l1 ,z l1 )。
Further, in step 4, the in-vehicle ranging sensor relative pose offset features have the following typical categories:
unifying the measured three-dimensional coordinates of the characteristic points of at least two groups of calibration laser points in the camera or the laser radar to the same coordinate system by means of the calibration parameters of the camera and the laser radar; when only one calibration laser point characteristic point can be extracted, the Euclidean distance between three-dimensional coordinates of the laser point characteristic points can be calibrated by different vehicle-mounted distance measuring sensors under the same coordinate system, and the Euclidean distance can be used as the relative pose offset characteristic between the corresponding vehicle-mounted distance measuring sensors;
wherein: in each measurement, the three-dimensional coordinates of all laser characteristic points measured by each ranging sensor form a group of characteristic points for calibrating the laser points; because the laser spots are actually distributed in a block shape, it is necessary to extract the geometric feature centers thereof, which constitute the laser spot feature points.
When two calibration laser point characteristic points can be extracted, not only can an offset characteristic of one calibration laser point characteristic point be adopted, but also the length difference between the two points measured by different vehicle-mounted distance measuring sensors can be used as a relative pose offset characteristic between the corresponding vehicle-mounted distance measuring sensors;
when three or more calibration laser spot characteristic points can be extracted, the relative pose offset characteristic of one or two calibration laser spot characteristic points can be adopted, and the relative pose offset characteristic between corresponding vehicle-mounted ranging sensors can also be adopted, wherein the relative pose offset characteristic is the area or normal direction of a triangle defined by any three points, the perimeter of a side line formed by any point or the included angle between the side lines and the like; the statistical features of the relative pose offset features may be further employed as the relative pose offset features when conditions allow, to improve the robustness of the relative pose offset features.
An explanation of the relative pose offset characterization values is given with respect to the case where there are only 1 calibration laser points in the case of fig. 1.
In practice, the relative pose of the first camera 2, the second camera 4, and the lidar 3 must be known, i.e. the transformation matrix seen by their coordinate system is known. Let the first camera 2 coordinate system be converted into the laser radar 3 coordinate system as [ R ] 11 |T 11 ]Conversion of the second camera 4 coordinate system into a lidar 3 coordinate systemIs [ R ] 21 |T 21 ]Then (x) c1 ,y c1 ,z c1 )、(x c2 ,y c2 ,z c2 ) Can be unified into a laser radar 3 coordinate system, and the conversion formula is as follows:
wherein,for the first camera 2 after unifying the coordinate system, the laser spot coordinates are calibrated, +.>For the second camera 4 after unifying the coordinate system, R 11 Measuring a spatial rotation matrix between the coordinate system for the first camera 2 and the lidar 3 coordinate system, T 11 Measuring a spatial translation matrix between the coordinate system for the first camera 2 and the lidar 3 coordinate system, R 21 Measuring a spatial rotation matrix between the coordinate system and the laser radar 3 coordinate system for the second camera 4, T 21 A spatial rotation matrix between the coordinate system and the lidar 3 coordinate system is measured for the second camera 4.
Further, the Euclidean distance d between the first camera 2 and the second camera 4 in the same coordinate system can be obtained by the formula (3) c1_c2 Euclidean distance d between the first camera 2 and the lidar c1_l1 Euclidean distance d between the second camera 4 and the calibrated laser spot 6 measured by the laser radar 3 c2_l1 ：
In step 5, the spatial pose offset of the vehicle-mounted ranging sensor is set comprehensively according to the conditions such as the vehicle speed, the measured point position and the road condition.
In the present embodiment, it is assumed that the vehicle-mounted ranging sensor pose offset threshold is d max Then the determination condition for the spatial pose offset exceeding the standard of the vehicle-mounted ranging sensor may be set as follows:
max(d c1_c2 ,d c1_l1 ,d c2_l1 )>d max (4)
in the formula, max (x) represents the maximum value.
And once the pose offset of the vehicle-mounted ranging sensor exceeds a set threshold value, feeding back the state to a vehicle main control system, and taking reasonable action.
Example 2
Referring to fig. 2, an on-line detection system for pose offset of an on-vehicle ranging sensor includes:
the vehicle-mounted ranging sensor is used for collecting and calibrating laser point signals;
the processing module is used for: processing the calibration laser point signals acquired by the vehicle-mounted ranging sensor to obtain three-dimensional coordinates of a coverage area of the calibration laser point;
and an offset characteristic solving module: and solving the relative pose offset characteristic of the vehicle-mounted ranging sensor based on the three-dimensional coordinates of the coverage area of the calibration laser point.
The above is only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. The on-line detection method for the pose offset of the vehicle-mounted ranging sensor is characterized by comprising the following steps of:
step 1: fixing the calibration laser at a selected position of the vehicle;
step 2: when the calibration laser is turned on, the vehicle-mounted ranging sensor collects calibration laser point signals;
step 3: processing the calibration laser point signals acquired by the vehicle-mounted ranging sensor to obtain three-dimensional coordinates of a coverage area of the calibration laser point;
step 4: and solving the relative pose offset characteristic of the vehicle-mounted ranging sensor based on the three-dimensional coordinates of the coverage area of the calibration laser point.
2. The method for on-line detection of pose offset of on-vehicle ranging sensor according to claim 1, wherein in step 1, the laser form emitted by the calibration laser has spatial differentiation, and the orientation of the calibration laser in the vehicle is selected according to the spatial field of view of the displacement sensor to be detected and is rigidly connected to the vehicle.
3. The on-line detection method for pose offset of vehicle-mounted distance measuring sensors according to claim 1, wherein in the step 2, the vehicle-mounted distance measuring sensors comprise a laser radar and a camera, and at least one landing point of laser emitted by a calibration laser on the ground exists in a common view field of any two distance measuring sensors.
4. The on-line detection method for pose offset of vehicle-mounted ranging sensor according to claim 1, wherein in the step 3, the laser radar realizes indirect measurement of three-dimensional coordinates of the coverage area of the calibration laser point by detecting interference caused by laser emitted by the calibration laser; the indirect measurement process is as follows: in the scanning measurement process, the laser radar senses the abrupt light intensity increase or the ranging laser flight time abnormality caused by the calibration laser point, so as to realize the identification of the area and the measurement of the three-dimensional coordinates.
5. The on-line detection method for pose offset of vehicle-mounted ranging sensor according to claim 1, wherein in the step 3, after the camera collects the calibration laser spot signal, the geometric center of the calibration laser spot signal is extracted, and then the three-dimensional coordinates of the coverage area of the calibration laser spot are obtained by means of the internal and external parameters of the camera or the triangular relationship between the camera and the calibration laser, which are obtained by calibration in advance.
6. The on-line detection method for pose offset of on-vehicle ranging sensor according to claim 1, wherein in step 4, the relative pose offset characteristics of on-vehicle ranging sensor have the following typical categories:
unifying the actual measurement three-dimensional coordinates of at least two groups of calibration laser point characteristic points in the camera or the laser radar to the same coordinate system by means of the calibration parameters of the camera and the laser radar:
when only one calibration laser point characteristic point can be extracted, calibrating the distances among the three-dimensional coordinates of the laser point characteristic points by different vehicle-mounted distance measuring sensors in the same coordinate system, and taking the distances as the relative pose offset characteristics among the corresponding vehicle-mounted distance measuring sensors;
when two calibration laser point characteristic points can be extracted, adopting the offset characteristic of one calibration laser point characteristic point or the length difference between the two points measured by different vehicle-mounted distance measuring sensors as the relative pose offset characteristic between the corresponding vehicle-mounted distance measuring sensors;
when three or more calibration laser spot feature points can be extracted, the relative pose offset feature of one or two calibration laser spot feature points or the perimeter of a boundary line or an included angle between boundary lines formed by any three points or the area or the normal direction of a triangle defined by any three points is adopted as the relative pose offset feature between corresponding vehicle-mounted ranging sensors.
7. The on-line detection method for pose shift of on-vehicle ranging sensor according to claim 6, wherein when three or more calibration laser point feature points can be extracted, the relative pose shift feature of one or two calibration laser point feature points is used as a first relative pose shift feature, the area or normal direction of a triangle defined by any three points, the perimeter of a side line formed by any points or the statistical feature of an included angle between side lines is used as a second relative pose shift feature, and the statistical feature of the first relative pose shift feature or the second relative pose shift feature is used as the final relative pose shift feature between corresponding on-vehicle ranging sensors.
8. The on-line detection method for pose offset of vehicle-mounted distance measuring sensor according to claim 1, wherein after step 4 is completed, it is determined whether the spatial pose offset of the corresponding vehicle-mounted distance measuring sensor exceeds the standard according to the relative pose offset characteristics of the vehicle-mounted distance measuring sensor.
9. The on-line detection method for the pose offset of the vehicle-mounted distance measuring sensor according to claim 8, wherein the judgment standard for judging whether the corresponding spatial pose offset of the vehicle-mounted distance measuring sensor exceeds the standard is comprehensively set according to conditions such as vehicle speed, measured point position, road condition and the like.
10. The utility model provides a on-line measuring system is squinted to on-vehicle range finding sensor position appearance which characterized in that includes:
the vehicle-mounted ranging sensor is used for collecting and calibrating laser point signals;
the processing module is used for: processing the calibration laser point signals acquired by the vehicle-mounted ranging sensor to obtain three-dimensional coordinates of a coverage area of the calibration laser point;
and an offset characteristic solving module: and solving the relative pose offset characteristic of the vehicle-mounted ranging sensor based on the three-dimensional coordinates of the coverage area of the calibration laser point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311527763.7A CN117492031A (en) | 2023-11-15 | 2023-11-15 | On-line detection method and system for pose offset of vehicle-mounted ranging sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311527763.7A CN117492031A (en) | 2023-11-15 | 2023-11-15 | On-line detection method and system for pose offset of vehicle-mounted ranging sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117492031A true CN117492031A (en) | 2024-02-02 |
Family
ID=89674252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311527763.7A Pending CN117492031A (en) | 2023-11-15 | 2023-11-15 | On-line detection method and system for pose offset of vehicle-mounted ranging sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117492031A (en) |
-
2023
- 2023-11-15 CN CN202311527763.7A patent/CN117492031A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110077399B (en) | Vehicle anti-collision method based on road marking and wheel detection fusion | |
| US10977504B2 (en) | Vehicle-mounted image target objection recognition device | |
| EP3633620A1 (en) | Method and device for calibrating external parameters of vehicle-mounted sensor | |
| CN102944224B (en) | Work method for automatic environmental perception systemfor remotely piloted vehicle | |
| CN112241007A (en) | Calibration method and arrangement structure of automatic driving environment perception sensor and vehicle | |
| US20090122136A1 (en) | Object detection device | |
| CN110782465B (en) | Ground segmentation method and device based on laser radar and storage medium | |
| CN108955584B (en) | Pavement detection method and device | |
| CN111381248B (en) | Obstacle detection method and system considering vehicle bump | |
| CN112083441B (en) | Obstacle detection method and system for depth fusion of laser radar and millimeter wave radar | |
| CN105699985A (en) | Single-line laser radar device | |
| CN108621998B (en) | Water depth detection system and method for vehicle | |
| CN111694031A (en) | Unmanned vehicle control system based on differential positioning | |
| CN111506069B (en) | All-weather all-ground crane obstacle identification system and method | |
| CN111578893A (en) | Method for identifying included angle between tractor and trailer | |
| US20220342055A1 (en) | Attitude/position detection system and method for detecting attitude/position of detector | |
| CN114295099B (en) | Ranging method based on monocular camera, vehicle-mounted ranging equipment and storage medium | |
| CN110751693B (en) | Method, apparatus, device and storage medium for camera calibration | |
| CN112596050A (en) | Vehicle, vehicle-mounted sensor system and driving data acquisition method | |
| CN114590333B (en) | Automatic driving multisection trailer and pose determining method thereof | |
| CN117492031A (en) | On-line detection method and system for pose offset of vehicle-mounted ranging sensor | |
| CN112835029A (en) | Unmanned-vehicle-oriented multi-sensor obstacle detection data fusion method and system | |
| CN113238237B (en) | Library position detection method and device | |
| CN215005850U (en) | Centering device type vehicle auxiliary camera and radar calibration device | |
| CN114119771A (en) | Millimeter wave radar and camera combined calibration method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |