CN215494114U - Vehicle-mounted laser radar external parameter calibration system - Google Patents
Vehicle-mounted laser radar external parameter calibration system Download PDFInfo
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- CN215494114U CN215494114U CN202121827699.0U CN202121827699U CN215494114U CN 215494114 U CN215494114 U CN 215494114U CN 202121827699 U CN202121827699 U CN 202121827699U CN 215494114 U CN215494114 U CN 215494114U
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Abstract
The utility model provides a vehicle-mounted laser radar external reference calibration system, which comprises: the device comprises a vehicle positioning device, two mirror devices and a plurality of calibration devices; the two mirror devices are arranged on two sides of the ground station; the calibration devices are arranged between the two mirror devices so as to form mirror images of the calibration devices on the mirror devices; the vehicle positioning device is arranged on the ground station and used for limiting the parking position of a vehicle carrying a laser radar, and the laser radar is used for calibrating the external parameters of the laser radar by scanning the calibration device and the mirror image of the calibration device on the mirror device. According to the utility model, the scanning object of the laser radar is added on the limited station space through the mirror device, so that the external reference calibration precision of the vehicle-mounted laser radar can be effectively improved.
Description
Technical Field
The utility model relates to the technical field of radar calibration, in particular to a vehicle-mounted laser radar external reference calibration system.
Background
With the rapid development of electric automobiles, the demand for automatic driving of automobiles is also increasing, which requires more lidar sensors to be mounted on the automobiles to enhance the environmental perception capability of the automobiles. In order to ensure the measurement precision of the laser radar sensor, external parameters of the laser radar sensor installed on an automobile need to be calibrated in an automobile production line. Currently, calibration of a lidar sensor is generally performed by manually placing several calibration objects (e.g., corner reflectors) at specified positions on a road surface, and then using several corner reflectors with known positions. However, for laser radar calibration on an automobile production line, the number of placed calibration objects is limited due to limited station space, and the calibration precision of the laser radar sensor is low.
SUMMERY OF THE UTILITY MODEL
In view of the above problems, an object of the present invention is to provide an external reference calibration system for a vehicle-mounted laser radar, which can effectively improve the external reference calibration accuracy of the vehicle-mounted laser radar.
The embodiment of the utility model provides a vehicle-mounted laser radar external reference calibration system, which comprises: the device comprises a vehicle positioning device, two mirror devices and a plurality of calibration devices; the two mirror devices are arranged on two sides of the ground station; the calibration devices are arranged between the two mirror devices so as to form mirror images of the calibration devices on the mirror devices; the vehicle positioning device is arranged on the ground station and used for limiting the parking position of a vehicle carrying a laser radar, and the laser radar is used for calibrating the external parameters of the laser radar by scanning the calibration device and the mirror image of the calibration device on the mirror device.
As an improvement of the above aspect, the vehicle positioning device includes: and the two positioning bars are symmetrically arranged, and the distance between the two positioning bars is equal to the vehicle width of the vehicle.
As an improvement of the above aspect, the positioning bar includes: the two fixing seats are arranged on the ground station; the cross beam is fixed on the two fixed seats and spans the two fixed seats.
As an improvement of the above solution, the fixing base includes: the supporting part is connected with the cross beam; the limiting part is arranged on the inner side of the cross beam and used for limiting the position of the tire of the vehicle.
As an improvement of the above solution, the calibration device includes: the support is arranged on the ground station, and the calibration plate is connected with the support.
As an improvement of the scheme, the calibration plate is of a rectangular structure.
As a refinement of the above, the calibration plate has a size of 50cm by 50 cm.
As an improvement of the scheme, the front surface of the calibration plate is provided with a white coating.
As an improvement of the scheme, the mirror device is vertically arranged on the ground station, and the reflectivity of the mirror device is more than 95%.
As an improvement of the scheme, the mirror device is arranged in parallel with the beam.
Compared with the prior art, the embodiment of the utility model has the beneficial effects that: the vehicle positioning device limits the position of the vehicle, thereby limiting the actual positions of a plurality of calibration devices on a vehicle coordinate system and avoiding position deviation caused by manually moving the calibration devices; mirror devices are arranged on two sides of the calibration device, mirror images of the calibration device can be obtained through the reflection characteristics of the mirror surfaces, and the mirror images and the calibration device are used as scanning objects of the laser radar together, so that the number of the calibration device is increased on limited stations of an automobile production line, the measurement data volume of the laser radar is increased, and the accuracy of laser radar external parameter calibration is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a top view of a vehicle-mounted lidar external reference calibration system provided by an embodiment of the utility model;
FIG. 2 is a schematic structural diagram of a vehicle positioning device provided by an embodiment of the utility model;
fig. 3 is a schematic structural diagram of a calibration apparatus provided in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a vehicle-mounted lidar external reference calibration system, including: the device comprises a vehicle positioning device 1, two mirror devices 2 and a plurality of calibration devices 3; the two mirror devices 2 are arranged on two sides of a ground station; a plurality of said calibration devices 3 are arranged between two of said mirror devices 2 to form a mirror image of said calibration devices 3 on said mirror devices 2; the vehicle positioning device 1 is arranged on the ground station and used for limiting the parking position of a vehicle carrying a laser radar 4, and the laser radar 4 is used for calibrating the external parameters of the laser radar by scanning the calibration device 3 and the mirror image of the calibration device on the mirror device 2.
Illustratively, the lidar 4 is generally mounted at a position intermediate the upper edge of the front windshield of the vehicle. When the vehicle is parked in the vehicle positioning device 1, a laser radar 4 measurement coordinate system is established by taking the laser radar 4 as an origin, and the laser radar 4 can scan the calibration devices 3 and the mirror images thereof on the mirror device 2 to obtain the measurement position of each calibration device 3 and the mirror image thereof; the vehicle positioning device 1 can define the distance between the vehicle coordinate system and each calibration device 3 as a fixed value, i.e. the actual position of the calibration device 3 relative to the vehicle coordinate system can be measured. Since the actual position of the calibration device 3 in the vehicle coordinate system is constant, the actual position may be pre-stored in a corresponding processor for each external reference calibration calculation of the laser radar 4. It should be noted that the processor may be integrated in the lidar or built in the MCU of the vehicle, and the processor may also be a computing device independent from the vehicle and the lidar, which is not limited herein.
Based on the calibration device 3 and the measurement position of the mirror image thereof, the actual position of the calibration device 3, the measurement coordinate system of the laser radar 4 and the vehicle coordinate system, the rotation matrix and the translation vector of the laser radar 4 can be solved, and the external parameter calibration of the laser radar 4 can be obtained. It should be noted that an algorithm for calculating the external reference of the laser radar 4 by coordinate transformation belongs to the prior art, and is not described in detail here.
In this embodiment, in the embodiment of the present invention, on one hand, the vehicle positioning device 1 defines the position of the vehicle, so as to define the position of the vehicle, and further define the distance between a vehicle coordinate system (for example, a coordinate system with the center of the vehicle as the origin) and the plurality of calibration devices 3, that is, define the actual positions of the plurality of calibration devices 3 on the vehicle coordinate system, so that the position deviation caused by manually moving the calibration devices 3 in the prior art can be effectively avoided; on the other hand, mirror devices 2 are arranged on two sides of the calibration device 3, and the mirror images of the calibration device 3 can be obtained through the reflection characteristics of the mirror surfaces and used as scanning objects of the laser radar 4, so that the number of the calibration devices 3 is increased on stations of an automobile production line in a limited space, the measurement data volume of the laser radar 4 is increased, and the accuracy of external parameter calibration of the laser radar 4 is improved.
When the laser radar 4 on the vehicle needs to be calibrated, the vehicle is driven into the vehicle positioning device 1 of the vehicle-mounted laser radar 4 external parameter calibration system, the laser radar 4 to be calibrated is started to scan the calibration device 3 and the mirror image of the calibration device on the mirror device 2, a corresponding measurement position is obtained and is transmitted to a corresponding processor, and a rotation matrix and a translation vector of the corresponding laser radar 4 can be obtained through three-dimensional coordinate transformation by combining with the prestored actual position of the calibration device 3 in the vehicle coordinate system, so that the external parameter calibration of the laser radar 4 is realized, the whole process does not need manual operation, the calibration flow is simplified, and the automatic calibration of the vehicle-mounted laser radar 4 can be realized.
In an alternative embodiment, the vehicle positioning device 1 comprises: two locating bars 11, two locating bars 11 symmetry sets up, and the distance between two locating bars 11 equals the car width of vehicle.
The positioning bar 11 is integrally formed by metal, the positioning bar 11 is located below the mirror device 2, and the positioning bar 11 and the mirror device 2 are arranged along the length direction of a ground station.
As shown in fig. 2, the positioning bar 11 includes: two fixed seats 112 and a cross beam 111, wherein the two fixed seats 112 are installed on the ground station; the cross beam 111 is fixed on the two fixing seats 112 and spans the two fixing seats 112.
The length of the cross member 111 is not less than the length of the vehicle body, and is used for limiting the movement of the vehicle parked on the vehicle positioning device 1 in the left-right direction.
Wherein the mirror device is arranged in parallel with the beam 111.
Further, the fixing base 112 includes: a support portion 1121 and a stopper portion 1122, wherein the support portion 1121 is connected to the cross beam 111; the stopper 1122 is provided on the inner side of the cross member 111 to limit the position of the tire of the vehicle.
One end of the support portion 1121 is fixed to a ground station, the other end of the support portion 1121 is connected to the cross beam 111, the two support portions 1121 of the positioning bar 11 are respectively located at two ends of the cross beam 111, the cross beam 111 is parallel to the ground station, and forms a rectangular space with the ground station, so that the structure is stable. Meanwhile, a limiting portion 1122 extends inwards from one end of the support portion 1121 fixed to the ground station, and is used for limiting the tire of the vehicle parked on the vehicle positioning device 1 to prevent the vehicle from sliding forwards and backwards.
As shown in fig. 3, the calibration device 3 includes: calibration board 31 and support 32, support 32 installs on the ground station, calibration board 31 with support 32 is connected.
The support 32 includes a base 321 fixed on the ground station and a connecting portion 322, one end of the connecting portion 322 is connected to the base 321, and the other end is connected to the back of the calibration board 31. The connecting part 322 is of a structure similar to a 7 shape; the calibration plate 31 is arranged in a direction perpendicular to the ground station.
Further, the calibration plate 31 has a rectangular structure.
Further, the size of the calibration plate 31 is 50cm by 50 cm. The dimensions of the plate 31 are referred to herein as length by width. It should be noted that the size of the calibration plate 31 depends on the resolution of the lidar 4 to be calibrated, and is inversely related to the resolution of the lidar, i.e. the lower the resolution of the lidar, the larger the size of the calibration plate 31 is required.
In other embodiments, the calibration plate 31 may also be a circular structure with a diameter of 50cm, or other irregular structures, which are not illustrated herein.
Further, the front surface of the calibration plate 31 is provided with a white coating. Through set up white coating in the front of calibration plate 31, can increase the laser reflectivity on calibration plate 31 surface to make calibration plate 31 more clear complete in laser radar's point cloud.
In an alternative embodiment, the mirror device is vertically disposed on the ground station, and the reflectivity of the mirror device is greater than 95%.
In the embodiment of the utility model, the mirror device with the reflectivity larger than 95% is adopted, so that the imaging effect of the calibration device 3 can be improved.
Compared with the prior art, the embodiment of the utility model has the beneficial effects that: the vehicle positioning device limits the position of the vehicle, thereby limiting the actual positions of a plurality of calibration devices on a vehicle coordinate system and avoiding position deviation caused by manually moving the calibration devices; mirror devices are arranged on two sides of the calibration device, mirror images of the calibration device can be obtained through the reflection characteristics of the mirror surfaces, and the mirror images and the calibration device are used as scanning objects of the laser radar together, so that the number of the calibration device is increased on limited stations of an automobile production line, the measurement data volume of the laser radar is increased, and the accuracy of laser radar external reference calibration is improved; when the laser radar on the vehicle needs to be calibrated, the vehicle only needs to be driven into a vehicle positioning device of the vehicle-mounted laser radar external parameter calibration system, the laser radar needing to be calibrated is started to scan the calibration device and the mirror image of the calibration device on the mirror surface device, a corresponding measurement position is obtained and is transmitted to a corresponding processor, a rotation matrix and a translation vector of the corresponding laser radar can be obtained through three-dimensional coordinate transformation by combining with the prestored actual position of the calibration device on a vehicle coordinate system, the external parameter calibration of the laser radar is realized, the whole process does not need manual operation, the calibration flow is simplified, and the automatic calibration of the vehicle-mounted laser radar can be realized.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the utility model.
Claims (10)
1. The utility model provides a vehicle-mounted laser radar external reference calibration system which characterized in that includes: the device comprises a vehicle positioning device, two mirror devices and a plurality of calibration devices; the two mirror devices are arranged on two sides of the ground station; the calibration devices are arranged between the two mirror devices so as to form mirror images of the calibration devices on the mirror devices; the vehicle positioning device is arranged on the ground station and used for limiting the parking position of a vehicle carrying a laser radar, and the laser radar scans the calibration device and the mirror image of the calibration device on the mirror device to calibrate the external parameters of the laser radar.
2. The vehicle lidar external reference calibration system of claim 1, wherein the vehicle positioning device comprises: and the two positioning bars are symmetrically arranged, and the distance between the two positioning bars is equal to the vehicle width of the vehicle.
3. The vehicle lidar external reference calibration system of claim 2, wherein the positioning bar comprises: the two fixing seats are arranged on the ground station; the cross beam is fixed on the two fixed seats and spans the two fixed seats.
4. The vehicle-mounted lidar external reference calibration system of claim 3, wherein the holder comprises: the supporting part is connected with the cross beam; the limiting part is arranged on the inner side of the cross beam and used for limiting the position of the tire of the vehicle.
5. The vehicle-mounted lidar external reference calibration system of claim 1, wherein the calibration apparatus comprises: the support is arranged on the ground station, and the calibration plate is connected with the support.
6. The vehicle-mounted lidar external reference calibration system of claim 5, wherein the calibration plate is of a rectangular configuration.
7. The vehicle lidar external reference calibration system of claim 6, wherein the calibration plate is 50cm by 50cm in size.
8. The vehicle lidar external reference calibration system of any one of claims 5 to 7, wherein a front surface of the calibration plate is provided with a white coating.
9. The vehicle-mounted lidar external reference calibration system of claim 1, wherein the mirror device is vertically disposed on the ground station, and a reflectivity of the mirror device is greater than 95%.
10. The vehicle-mounted lidar external reference calibration system of claim 3, wherein the mirror arrangement is disposed parallel to the beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121827699.0U CN215494114U (en) | 2021-08-05 | 2021-08-05 | Vehicle-mounted laser radar external parameter calibration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121827699.0U CN215494114U (en) | 2021-08-05 | 2021-08-05 | Vehicle-mounted laser radar external parameter calibration system |
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| Publication Number | Publication Date |
|---|---|
| CN215494114U true CN215494114U (en) | 2022-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121827699.0U Active CN215494114U (en) | 2021-08-05 | 2021-08-05 | Vehicle-mounted laser radar external parameter calibration system |
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| CN (1) | CN215494114U (en) |
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2021
- 2021-08-05 CN CN202121827699.0U patent/CN215494114U/en active Active
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