CN210514611U - Automatic calibration device for automotive laser radar - Google Patents
Automatic calibration device for automotive laser radar Download PDFInfo
- Publication number
- CN210514611U CN210514611U CN201921259607.6U CN201921259607U CN210514611U CN 210514611 U CN210514611 U CN 210514611U CN 201921259607 U CN201921259607 U CN 201921259607U CN 210514611 U CN210514611 U CN 210514611U
- Authority
- CN
- China
- Prior art keywords
- vehicle
- laser radar
- wall body
- closed house
- automatic calibration
- 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.)
- Active
Links
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses an automatic calibration device for vehicle laser radar, which comprises a cuboid-shaped closed house body and a PC (personal computer), wherein the PC is respectively connected with the laser radar installed on a vehicle through a data line; the closed house body comprises a frame body with mutually vertical left wall body, right wall body, rear wall body, top plate and adjacent ground surfaces, and the front wall body of the closed house body is movably assembled at the opening at the front end of the frame body by adopting a slide rail; the inner end faces of the left wall body and the right wall body of the closed house body are respectively provided with an equidistant ladder, and the ground of the closed house body is provided with a plurality of equidistant and parallel marking lines. The utility model discloses can realize automatic calibration, and mark the result degree of accuracy height, can satisfy the uniformity requirement, practice thrift the input of manpower greatly, can adapt to the requirement of marking in batches among the vehicle batch production process.
Description
Technical Field
The utility model relates to a unmanned vehicles production technical field, especially a radar calibration device on unmanned vehicles.
Background
The intelligent driving or unmanned driving vehicle is necessarily the development trend of vehicle intellectualization, and at present, a plurality of provinces and cities all over the country have related intelligent vehicle tests and even news of landing operation, and the intelligent driving vehicle is in quick proximity to our life. The number of the current intelligent driving vehicles is relatively small, the current intelligent driving vehicles generally have the scales of several or dozens in the test stage, most of the intelligent driving vehicles adopt one or more laser radars as main obstacle detection or construction basis of a map SLAM, but all the laser radars have inconsistent internal reference and external reference due to special processes, and therefore the laser radars can be used after being calibrated independently.
The existing calibration method is single manual calibration, the X \ Z direction level is judged by means of a level meter according to experience, and the Y direction is also subjectively calibrated by means of a wall according to experience. The intelligent calibration method and the intelligent calibration device have the advantages that the quantity is small, the requirement on timeliness is not high mainly in a test stage, the current application can be basically met, but once the mass production or formal mass production is carried out, the requirement on production cannot be met by manual calibration, and therefore the intelligent calibration method and the intelligent calibration device which can meet the requirements on mass production and have a high low threshold automation degree are urgently needed.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that needs to solve provides a device for automatic calibration automobile-used laser radar, improves calibration result stability and uniformity, satisfies batch production's requirement.
In order to solve the technical problem, the utility model adopts the following technical proposal.
An automatic calibration device for a vehicle laser radar comprises a cuboid closed house body for accommodating a vehicle and a PC (personal computer) for calibrating the laser radar, wherein the PC is connected with the laser radar installed on the vehicle through data lines respectively; the closed house body comprises a frame body formed by vertically and fixedly connecting a left wall body, a right wall body, a rear wall body, a top plate and adjacent ground surfaces, and the front wall body of the closed house body is movably assembled at an opening at the front end of the frame body by adopting a sliding rail; the inner end faces of the left wall body and the right wall body of the closed house body are respectively provided with an equidistant ladder from bottom to top, and a plurality of equidistant and parallel marking lines are arranged on the ground of the closed house body by taking the central axis in the width direction as a reference; and tire reference marks for placing vehicle tires are symmetrically arranged on the middle part of the ground by taking the central axis in the width direction as the central axis of the vehicle.
According to the automatic calibration device for the automotive laser radar, the height of equidistant steps is 40-90cm, and the width difference and the height difference of adjacent steps are 10 cm.
According to the automatic calibration device for the automotive laser radar, the distance between the adjacent marking lines is 10 cm.
Above-mentioned automatic calibration device of automobile-used laser radar, the tire reference mark tail end that is located ground rear end is provided with the stopper that prevents the vehicle transfinite.
Due to the adoption of the technical scheme, the utility model has the following technical progress.
The utility model is used for carry out the demarcation of external reference to all laser radar on the vehicle, can realize automatic demarcation, and mark the result degree of accuracy height, can satisfy the uniformity requirement, practiced thrift the input of manpower greatly, can adapt to the requirement of marking in batches among the vehicle batch production process.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a site for calibration in the present invention;
FIG. 3 is a schematic cross-sectional view of the xy plane field of the present invention;
FIG. 4 is a schematic top view of the xz plane (ground) according to the present invention;
fig. 5 is a schematic diagram of the yaw calibration of the present invention;
FIG. 6 is a schematic diagram of pitch calibration in the present invention;
fig. 7 is a schematic diagram of the roll calibration in the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The utility model discloses in, the demarcation parameter of the laser radar external reference on the car mainly is the demarcation of three gesture direction: calibration of heading (yaw), roll and pitch (pich) parameters, as shown in fig. 1; the heading parameter refers to the deflection of the laser radar in the horizontal Y direction, the pitching refers to the deflection of the laser radar in the vertical X direction, and the rolling refers to the rotation of the laser radar in the Z-axis direction.
The utility model provides an automatic calibration device of automobile-used laser radar, includes cuboid form closed room body and PC, and the cuboid form closed room body is used for holding the vehicle of treating the demarcation, and the PC passes through the data line respectively with the laser radar of vehicle installation and is connected for mark the laser radar on the car.
The structure of the closed house body is shown in fig. 2 and fig. 3, and comprises a frame body formed by mutually vertical and fixedly connected a left wall body, a right wall body, a rear wall body, a top plate and adjacent ground surfaces, wherein the front wall body of the closed house body is movably assembled at an opening at the front end of the frame body by adopting a slide rail. When the vehicle to be calibrated enters the frame body, the front wall body is moved, and the frame body is closed to form a closed house body. The utility model discloses in, the closed room body can adopt the building that the concrete found, also can be portable plank etc. build and form, as long as can guarantee the internal adjacent both ends face mutually perpendicular of room can, as the reference standard who provides accurate basic data.
In order to accurately calibrate the laser radar, equidistant steps are respectively arranged on the inner end surfaces of the left wall body and the right wall body of the closed house from bottom to top, and a plurality of equidistant and parallel marking lines are arranged on the ground of the closed house by taking the central axis in the width direction as a reference; the middle part of the ground is symmetrically provided with tire reference marks for placing the vehicle tires by taking the central axis in the width direction as the central axis of the vehicle, as shown in fig. 4. The utility model discloses in, the height of equidistance ladder is 40-90cm, and the width difference and the difference in height of adjacent ladder are 10cm, and the interval between adjacent mark line is 10 cm.
For making things convenient for the vehicle to advance appointed position, the utility model discloses tire reference mark tail end that is located ground rear end has set up the stopper that prevents the vehicle transfinite.
The PC is used as a computer for calibrating the laser radar, all laser radars to be calibrated can be connected with the PC after the vehicle reaches a specified position, radar data are read by a calibration interface, the interface can display a plurality of radar point cloud data, and under a normal condition, the point cloud can form pane lines with clear layer intervals, the distance is 10cm, and the pane lines are overlapped with a calibration interface reference line; however, in practice, there is a certain deviation, which requires calibration of the lidar accordingly.
Adopt the utility model discloses when carrying out vehicle laser radar calibration, specifically include following step.
A. Building a cuboid closed house body, and driving a vehicle to be calibrated into the house body; when the vehicle reaches the designated tire reference mark position in the closed house, the vehicle body is kept parallel to the left and right side walls, all laser radars to be marked are respectively connected with a PC (personal computer) through data lines, and a reference calibration interface matched with the marking lines in the closed house and the pane lines formed by equidistant step side lines is displayed on the PC.
In the parking process, the driver relies on experience to park the car to relatively more accurate position, also can assist some laser rangefinder equipment, if prepare 2 laser rangefinder equipment from the left side or the right side measure the distance of locomotive, rear of a vehicle to the wall respectively, remind the driver, can be more accurate like this. It should be noted that the accuracy requirement can be met even without a laser ranging device by experience, since our schedule is on the order of 20 cm.
B. And collecting data of each laser radar, displaying radar point cloud data on a reference calibration interface, and calculating to-be-calibrated deviation of each laser radar according to deviation from a marking line on the reference calibration interface.
C. And B, calibrating the parameters according to the deviation value calculated in the step B and the sequence of pitching, rolling and heading.
In the embodiment, the measured course deflection of a certain laser radar is shown in fig. 5, the solid line in the figure is the standard point cloud, and the dotted line is the measured actual point cloud of the laser radar.
When calibrating course (yaw) parameters, the PC machine can adopt an image binary method, an approximation method or a least square method to calibrate the parameters.
When the image binary method is adopted for calibration, firstly, the included angle of two lines is compared, the angle difference value is calculated, the angle compensation is carried out on the laser radar coordinate, and the original value α is obtained0Add the deflection value α on the basis of (2), repeat the detection and calculation of the deflection value until α<Preset value αt(ii) a And finishing calibration.
When an approximation method is adopted for calibration, firstly, an included angle α 1 of two lines is estimated, the positive and negative of α 1 can be judged, a pre-compensation value α 01/2 is added, an included angle α 12 of the two lines is estimated, if α 22 and α 1 are in the same direction, a compensation value α 1/4 is continuously added, an included angle α 3 of the two lines is estimated, if α 3 and α 1 are in the same direction, the operation is continued, and if α N and α 1 are in different directions, a compensation value α 1/2 is continuously addedn+1And α 1/2 of the previous stepnNot until the angle α is estimatedn0 or approaching 0, the calibration value is α 1/2+ α 1/4+ … …, α 1/2n-1+α1/2n+1(ii) a And finishing calibration.
When the least square method is adopted for calibration, the maximum mean square error P of the two lines is calculated firstly, the positive and negative values of α 1 can be judged, for example, if the values are negative values, the right is turned for an angle α 1, if the value of P is larger, an angle α 1/2 is selected, if the value of P is smaller, α 1 is recorded, α 1 is rotated in the same direction, if the value of P is larger, an angle α 1/2 is selected, if the value of P is smaller, α 2 is recorded, until the value of P is 0 or close to 0, all the values of P are recorded, the values of P are smaller, the summation is carried out to obtain a calibration value, and the calibration is completed.
When roll (roll) and pitch (pick) calibration is performed, because the actually measured point cloud and the reference point cloud are parallel, as shown in fig. 6 and 7, only displacement deviation exists and no angle deviation exists, and therefore, equivalent calibration in the opposite direction can be directly performed according to the deviation value.
D. And after calibration is finished, reading in the point cloud data of each laser radar again, verifying whether the point cloud data is consistent with the pane line of the reference calibration interface or not, and finishing calibration if the point cloud data is consistent with the pane line of the reference calibration interface.
Claims (4)
1. The utility model provides an automatic calibration device of automobile-used laser radar which characterized in that: the system comprises a cuboid closed house body for accommodating a vehicle and a PC (personal computer) for calibrating a laser radar, wherein the PC is connected with the laser radar installed on the vehicle through data lines respectively; the closed house body comprises a frame body formed by vertically and fixedly connecting a left wall body, a right wall body, a rear wall body, a top plate and adjacent ground surfaces, and the front wall body of the closed house body is movably assembled at an opening at the front end of the frame body by adopting a sliding rail; the inner end faces of the left wall body and the right wall body of the closed house body are respectively provided with an equidistant ladder from bottom to top, and a plurality of equidistant and parallel marking lines are arranged on the ground of the closed house body by taking the central axis in the width direction as a reference; and tire reference marks for placing vehicle tires are symmetrically arranged on the middle part of the ground by taking the central axis in the width direction as the central axis of the vehicle.
2. The automatic calibration device for the vehicle laser radar according to claim 1, wherein: the height of the equidistant steps is 40-90cm, and the width difference and the height difference of the adjacent steps are both 10 cm.
3. The automatic calibration device for the vehicle laser radar according to claim 1, wherein: the spacing between adjacent marking lines was 10 cm.
4. The automatic calibration device for the vehicle laser radar according to claim 1, wherein: and a limiting block for preventing the vehicle from exceeding the limit is arranged at the tail end of the tire reference mark positioned at the rear end of the ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921259607.6U CN210514611U (en) | 2019-08-06 | 2019-08-06 | Automatic calibration device for automotive laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921259607.6U CN210514611U (en) | 2019-08-06 | 2019-08-06 | Automatic calibration device for automotive laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210514611U true CN210514611U (en) | 2020-05-12 |
Family
ID=70587836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921259607.6U Active CN210514611U (en) | 2019-08-06 | 2019-08-06 | Automatic calibration device for automotive laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210514611U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110320506A (en) * | 2019-08-06 | 2019-10-11 | 阿尔法巴人工智能(深圳)有限公司 | A kind of automobile-used laser radar automatic calibration device and method |
| CN116068538A (en) * | 2023-04-06 | 2023-05-05 | 中汽研（天津）汽车工程研究院有限公司 | Adjustable calibration system and method for batch type vehicle laser radar |
-
2019
- 2019-08-06 CN CN201921259607.6U patent/CN210514611U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110320506A (en) * | 2019-08-06 | 2019-10-11 | 阿尔法巴人工智能(深圳)有限公司 | A kind of automobile-used laser radar automatic calibration device and method |
| CN110320506B (en) * | 2019-08-06 | 2023-05-02 | 深圳市海梁科技有限公司 | Automatic calibration device and method for automotive laser radar |
| CN116068538A (en) * | 2023-04-06 | 2023-05-05 | 中汽研（天津）汽车工程研究院有限公司 | Adjustable calibration system and method for batch type vehicle laser radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110320506B (en) | Automatic calibration device and method for automotive laser radar | |
| CN103499343B (en) | Automatic classifying and identifying method for road line point cloud based on three-dimensional laser reflection strength | |
| CN108845343B (en) | Vehicle positioning method based on fusion of vision, GPS and high-precision map | |
| CN102679889B (en) | Vehicle size measurement method and device | |
| CN106093963B (en) | A method of improving the vehicle-mounted laser radar scanning data precision of railway | |
| CN103927754B (en) | A kind of scaling method of vehicle-mounted vidicon | |
| CN110763246A (en) | Automatic driving vehicle path planning method and device, vehicle and storage medium | |
| CN103901411B (en) | A kind of radar test set and car radar angle of pitch method of testing | |
| CN210514611U (en) | Automatic calibration device for automotive laser radar | |
| CN111767354B (en) | High-precision map precision evaluation method | |
| CN103499337B (en) | Vehicle-mounted monocular camera distance and height measuring device based on vertical target | |
| CN102521438A (en) | Traffic conflict simulation two-stage parameter calibrating method | |
| CN113640821B (en) | Mine car loading capacity metering method based on single-line laser radar scanner scanning | |
| CN104792261A (en) | Three-dimensional space fine measuring system for underground cavities | |
| CN110579754A (en) | Method for determining external parameters of a lidar and other sensors of a vehicle | |
| CN103847639A (en) | Vehicular camera dynamic reversing assist line marking method | |
| CN111830546A (en) | Outdoor railcar landmark deployment method | |
| CN115079143A (en) | Multi-radar external parameter rapid calibration method and device for double-axle steering mine card | |
| CN112200779B (en) | Driverless road surface rut shape and structure transverse difference degree evaluation method | |
| CN117198057A (en) | Experimental method and system for road side perception track data quality inspection | |
| CN105388035A (en) | Determining device for compartment sampling region | |
| CN106767918A (en) | Transponder location data calibration method, terminal and control centre in electronic map | |
| CN115877855A (en) | Intelligent power inspection robot adaptive to environmental path planning and inspection method | |
| CN207367055U (en) | A kind of guide device based on monocular vision and Multi-sensor Fusion | |
| CN115848402A (en) | Lane line real-time distance measurement system and method based on camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200611 Address after: 518000 Huafeng mansion 2701, Bauhinia community, Shennan Road, Futian District, Shenzhen, Guangdong, China, 2701 Patentee after: SHENZHEN HAYLION TECHNOLOGIES Co.,Ltd. Address before: 518000 room 6006, Huafeng building, 1806 Shennan Avenue, Lianhua street, Guangdong, Shenzhen, Futian District Patentee before: Alfaba Artificial Intelligence (Shenzhen) Co.,Ltd. |