JP2020067402A5

JP2020067402A5 -

Info

Publication number: JP2020067402A5
Application number: JP2018201178A
Authority: JP
Filing date: 2018-10-25
Publication date: 2021-02-12
Anticipated expiration: 2038-10-25

Description

上記目的を達成するため、開示された一つの態様は、コンピュータ（１００）によって実施され、車両（Ａ）に搭載された複数の車載センサ（３０）についての校正を行うセンサ校正方法であって、少なくとも一つのプロセッサ（６１）上において、車載センサによって計測された地面固定物（ＲＯ）の計測情報を取得し（Ｓ１０２）、車載センサとは異なる情報源（５０）による地面固定物の既知情報を準備し（Ｓ１０５）、同一の地面固定物についての計測情報及び既知情報を用いて、既知情報と計測情報との比較によって複数の車載センサ間に設定される外部パラメータを更新する（Ｓ１０７，Ｓ１０８）、というステップを含むセンサ校正方法とされる。 In order to achieve the above object, one disclosed aspect is a sensor calibration method performed by a computer (100) and calibrating a plurality of in-vehicle sensors (30) mounted on a vehicle (A). On at least one processor (61), the measurement information of the ground fixed object (RO) measured by the in-vehicle sensor is acquired (S102), and the known information of the ground fixed object by the information source (50) different from the in-vehicle sensor is obtained. Prepare (S105), and update the external parameters set between the plurality of in-vehicle sensors by comparing the known information with the measurement information using the measurement information and the known information for the same ground fixed object (S107, S108). It is a sensor calibration method that includes the step of.

また開示された一つの態様は、車両（Ａ）において用いられ、車両に搭載された複数の車載センサ（３０）についての校正を行うセンサ校正装置であって、車載センサによって計測された地面固定物（ＲＯ）の計測情報を取得する情報取得部（７１）と、車載センサとは異なる情報源（５０）による地面固定物の既知情報を設定する情報設定部（８４）と、同一の地面固定物についての計測情報及び既知情報を用いて、既知情報と計測情報との比較によって複数の車載センサ間に設定される外部パラメータを更新する更新実行部（８６）と、を備えるセンサ校正装置とされる。 Further, one disclosed aspect is a sensor calibration device used in the vehicle (A) and calibrating a plurality of in-vehicle sensors (30) mounted on the vehicle, and is a ground-fixed object measured by the in-vehicle sensors. The same ground fixed object as the information acquisition unit (71) for acquiring the measurement information of (RO) and the information setting unit (84) for setting the known information of the ground fixed object by the information source (50) different from the in-vehicle sensor. It is a sensor calibration device including an update execution unit (86) that updates an external parameter set between a plurality of in-vehicle sensors by comparing the known information and the measurement information with the measurement information and the known information. ..

Claims

A sensor calibration method performed by a computer (100) to calibrate a plurality of in-vehicle sensors (30) mounted on a vehicle (A).
On at least one processor (61)
The measurement information of the ground fixed object (RO) measured by the in-vehicle sensor is acquired (S102),
Prepare known information of the ground-fixed object from an information source (50) different from the in-vehicle sensor (S105).
Using the measurement information and the known information about the same ground-fixed object, the external parameters set between the plurality of in-vehicle sensors are updated by comparing the known information with the measurement information (S107, S108). ,
Sensor calibration method including the step.

A sensor calibration device used in a vehicle (A) that calibrates a plurality of in-vehicle sensors (30) mounted on the vehicle.
An information acquisition unit (71) that acquires measurement information of a ground fixed object (RO) measured by the in-vehicle sensor, and
An information setting unit (84) that sets known information of the ground fixed object by an information source (50) different from the in-vehicle sensor, and
An update execution unit (86) that updates an external parameter set between a plurality of in-vehicle sensors by comparing the known information with the measurement information by using the measurement information and the known information about the same ground-fixed object. )When,
A sensor calibration device equipped with.