KR102232136B1 - Apparatus for sensor calibration of autonomous vehicle - Google Patents

Abstract

An apparatus for calibrating a sensor of an autonomous vehicle according to the present invention includes a fixing part connected to an upper end of a center point of a vehicle arbitrarily arranged at an unspecified position, a link part rotatably connected to the fixing part while spaced apart from the vehicle. And a control unit that controls the driving of the link unit to measure a relative positional relationship between various sensors built into the vehicle and the link unit.

Description

Device for sensor calibration of autonomous vehicles {APPARATUS FOR SENSOR CALIBRATION OF AUTONOMOUS VEHICLE}

The present invention relates to an apparatus for calibrating a sensor of an autonomous vehicle, and more particularly, to an apparatus for calibrating a sensor of an autonomous vehicle capable of efficiently calibrating a sensor mounted on an autonomous vehicle.

In general, autonomous vehicles are equipped with various sensors (camera, lidar, radar, etc.) to recognize objects around the vehicle.

In order to accurately recognize the distance between the vehicle and surrounding objects using the output values of these sensors, sensor calibration is very important.

Sensor calibration is divided into Intrinsic Calibration and Extrinsic Calibration.

Intrinsic calibration is a method to compensate for errors in the sensor itself through signal processing.

Extrinsic calibration is a method for directly obtaining a distance between an object and a vehicle from the sensor output values by inferring the correlation between the sensor-centered coordinate system and the vehicle-centered coordinate system from sensor output values.

The position and posture of the sensor mounted on the vehicle in the vehicle changes little by little over time due to the physical characteristics of the sensor fixing device. Therefore, there is a hassle to perform calibration periodically.

In the conventional sensor calibration method, the vehicle must be stopped at a designated location and a designated location. In addition, when the size of the vehicle or the location of the center point of the vehicle is changed, there is a problem that the existing experimental settings cannot be used because the distance to a known object changes even if the vehicle stops at a designated place.

The present invention has been proposed in view of the above circumstances, and an object of the present invention is to provide an apparatus for calibrating a sensor of an autonomous vehicle that can easily perform calibration even when the vehicle is stopped at an arbitrary position.

The problem to be solved by the present invention is not limited to the problems mentioned above, and other problems not mentioned herein will be clearly understood by those skilled in the art from the following description.

An apparatus for calibrating a sensor according to a first embodiment of the present invention includes: a fixing unit connected to an upper end of a center point of a vehicle arbitrarily disposed at an unspecified position; A link unit rotatably connected to the fixing unit so as to rotate around the vehicle while spaced apart from the vehicle; And a control unit that controls driving of the link unit to measure a relative positional relationship between various sensors built into the vehicle and the link unit.

The link unit includes a first vertical link connected in a vertical direction from the fixing unit; A horizontal link connected in a horizontal direction from the first vertical link; And a second vertical link connected in a vertical direction from the horizontal link.

The first and second vertical links are adjustable in elevation.

The first and second vertical links have a ball caster capable of rotating in the axial direction at the lower end.

The horizontal link can be adjusted in length in the horizontal direction.

An apparatus for calibrating a sensor according to a second embodiment of the present invention includes: a fixing part connected to an upper end of the vehicle; A foldable link part rotatably connected to the fixing part so as to rotate around the vehicle while being spaced apart from the vehicle; A checker board disposed on the link unit; An image unit for photographing the checker board; And controlling the driving of the link unit, the initial position value of the checker board based on the image information value obtained from the image unit, and the relative position between the fixed unit and the converted position value of the checker board changed through rotational driving of the link unit. It includes; a control unit for measuring the relationship.

It is preferable that the fixing part has the same coordinate value in the horizontal direction as the center point of the vehicle.

The link unit includes a first vertical link connected in a vertical direction from the fixing unit; A first horizontal link connected in a horizontal direction from the first vertical link; A second horizontal link connected in a horizontal direction from the first horizontal link and having a folded structure; A second vertical link connected in a vertical direction between the first horizontal link and the second horizontal link; And a third vertical link connected in a vertical direction to an end of the second horizontal link in a longitudinal direction.

The first, second, and third vertical links are adjustable in elevation.

The second and third vertical links have a ball caster capable of rotating in the axial direction at the lower end.

It is preferable that the image part is disposed on the same line as the fixing part.

An apparatus for calibrating a sensor according to a third embodiment of the present invention includes: a fixing unit capable of moving in the x-axis and y-axis directions; A link unit rotatably connected to the fixing unit so as to rotate around the vehicle while spaced apart from the vehicle; And a control unit for controlling driving of the fixing unit and the link unit.

The link unit includes a first vertical link connected to a lower end of the fixing unit in a vertical direction; A horizontal link connected in a horizontal direction from the first vertical link; And a second vertical link connected in a vertical direction from the horizontal link.

A light emitting device is disposed at a lower end of the first vertical link, and a light receiving device spaced apart from the light emitting device is formed at an upper end of the vehicle.

At this time, the control unit receives transmission/reception information values of the light emitting device and the light-receiving device, compares it with a preset reference value, and drives the fixing part and the link part to a position capable of sensor calibration according to the position of the vehicle.

It is preferable that the control unit measure a relative positional relationship between the link unit driven to a position where the sensor can be calibrated and various sensors built into the vehicle.

The fixing part can be lifted and lowered in the z-axis direction by the control unit.

The fixing part is movably connected to an x-axis rail and a y-axis rail crossing the x-axis rail.

At this time, the x-axis rail and the y-axis rail are arranged on the ceiling in a grid form.

The fixing part is detachable on the x-axis rail and the y-axis rail.

According to the present invention, it is possible to provide an apparatus for sensor calibration that can easily perform calibration even when a vehicle is stopped at an arbitrary position.

In addition, the sensor calibration apparatus according to the present invention enables sensor calibration in a state in which the vehicle is freely positioned, without the need to position the vehicle in a designated position at a designated location in a designated posture.

In addition, the present invention can easily calibrate even if the size of the vehicle or the position of the vehicle center point in the vehicle changes.

1 is a diagram conceptually illustrating a sensor calibration method of an autonomous vehicle.
2 is a side view showing an operating relationship between the device and configuration for sensor calibration according to the first embodiment of the present invention.
3 is a view showing an operation relationship of the sensor calibration apparatus according to the first embodiment of the present invention from the rear.
4 is a view showing a modified embodiment of a link portion in the apparatus for calibrating a sensor according to the first embodiment of the present invention.
5 is a view in which an elastic member is applied to a deformed link portion in the device for calibrating a sensor according to the first embodiment of the present invention.
6 is a view showing an operation relationship between the device and configuration for sensor calibration according to the second embodiment of the present invention from the side.
7 is a view showing a modified embodiment of a link portion in the apparatus for calibrating a sensor according to a second embodiment of the present invention.
8 is a view in which an elastic member is applied to a deformed link portion in an apparatus for calibrating a sensor according to a second embodiment of the present invention.
9 is a plan view schematically showing a state in which calibration is performed in an apparatus for calibrating a sensor according to an embodiment of the present invention.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms different from each other, and only these embodiments make the disclosure of the present invention complete, and common knowledge in the technical field to which the present invention pertains. It is provided to fully inform the scope of the invention to those who have it, and the invention is defined by the description of the claims. Meanwhile, terms used in the present specification are for explaining embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used herein, "comprises" or "comprising" refers to the presence of one or more other components, steps, actions and/or elements other than the recited elements, steps, actions and/or elements, or Does not exclude addition.

Hereinafter, before describing a preferred embodiment of the present invention in detail with reference to the accompanying drawings, a method for calibrating a sensor of an autonomous vehicle of FIG. 1 will be conceptually described to aid understanding.

Referring to FIG. 1, a conventional calibration method, in particular, an external calibration process goes through the following steps.

First, the vehicle 1 is accurately stopped at a specific position in a specific space in a specific posture (arrangement).

Second, after the checker board 2 or a small tool (not shown) with a clear shape is accurately placed at a designated location in the space, objects are recognized using various sensors (not shown), and the sensor output value at that time is stored.

At this time, since the vehicle 1 is placed in a specific posture at a specific position, it is assumed that the relative position difference in the 3D space between the center point of the vehicle 1 and the object for recognition (checker board, props, etc.) is known in advance.

Third, a parameter for extrinsic calibration is calculated using the sensor output value and the known relative position difference value.

[Equation 1] Equation for obtaining calibration parameters

[Equation 1] above is an equation for obtaining an extrinsic calibration. (X, y) in the left term indicates the pixel location obtained from the camera sensor 3 (eg, a red dot in Fig. 1). (X, y, z) in the right-hand side of the equation represents the actual relative position between the red point in the checkerboard (2) and the center point of the vehicle (1).

Finally, the matrix in the tangent box is a parameter of the calibration to be obtained. If the (x, y)-(x, y, z) pair can be obtained through these formula values, the calibration parameters can be obtained.

Embodiment 1

FIG. 2 is a side view showing an operating relationship between the sensor calibration apparatus and components according to the first embodiment of the present invention, and FIG. 3 is a view showing the operating relationship from the rear.

Referring to FIGS. 2 and 3 in parallel, the sensor calibration apparatus 100 according to the first embodiment of the present invention includes a fixing unit 110, a link unit 120, and a control unit (not shown).

The fixing part 110 is coupled to the vehicle ceiling vertically above the center point of the vehicle 1 disposed at an arbitrary position. It is preferable that the fixing part 110 has the same coordinate value on the horizontal plane as the center point of the vehicle 1.

That is, in the fixing part 110, the center line connected to the center point corresponds to the same x, y coordinate position, and only the z coordinate position is different. At this time, the location of the center point means the location where the GPS/IMU sensor 101 is disposed.

The checker board (140 in FIG. 4) for calibration is a grid-striped plate and is disposed at a predetermined position of the link unit 120. At this time, the checker board 140 is fixed on the second horizontal link 126 through a separate fastener 141.

When using the calibration apparatus 100 according to the first embodiment of the present invention, unlike in the related art, the vehicle 1 does not need to be disposed in a specific place in order to calibrate the sensor of the vehicle 1.

As described above, the conventional calibration method (shown in FIG. 1) is a device or means capable of grasping the relative positional relationship between the vehicle 1 with a sensor to be calibrated and a reference object (eg, a checker board, etc.). Therefore, in order to perform sensor calibration using a checker board (2 in Fig. 1) existing in a specific position, the vehicle 1 has to be stopped at a designated position with a clear relative position to the checker board (2 in Fig. 1).

However, if the sensor calibration apparatus 100 according to the first embodiment of the present invention is used, the relative positional relationship between the sensor of the vehicle 1 and the checker board (2 in Fig. 1) can be easily grasped, so that calibration is performed. There is no need to place the vehicle in a specific location in order to do so.

Therefore, if the sensor calibration apparatus 100 according to the first embodiment of the present invention is used, calibration can be easily performed even when the vehicle 1 stops at an arbitrary position.

Next, the configuration according to the first embodiment of the present invention will be described in more detail.

The link unit 120 is connected to be rotated 360 degrees around the fixing unit 110 so as to rotate around the vehicle 1 in a state of being spaced apart from the vehicle 1.

The link unit 120 includes a first vertical link 121, a horizontal link 124 and a second vertical link 123.

The first vertical link 121 is connected in a vertical direction from the fixing part 110.

The horizontal link 124 is connected from the first vertical link 121 in a horizontal direction.

The horizontal link 124 is adjustable in length in the horizontal direction.

The second vertical link 123 is connected in a vertical direction from the horizontal link 124.

At this time, the first and second vertical links 121 and 123 can be elevated and adjusted.

The first and second vertical links 121 and 123 are provided with a ball caster 127 capable of rotating in the axial direction at the lower end.

The control unit controls the driving of the link unit 120, and the relative positional relationship between the center point (position of GPS/IMU) of the vehicle 1 and a reference object (eg, a checker board) fixed to the link unit 120 Measure

At this time, the vehicle 1 may perform calibration by receiving the relative positional relationship measurement value from the control unit through an ECU (not shown).

4 is a view showing a modified embodiment of a link unit in the apparatus for calibrating a sensor of an autonomous vehicle according to the first embodiment of the present invention.

Referring to FIG. 4, the device 100 for calibrating a sensor of an autonomous vehicle is in a form in which a link unit 120 is vertically added to prevent the horizontal link 124 of the link unit 120 from being deformed downward. .

The link unit 120 is formed of a folding type that is rotatably connected around the fixing unit 110 so as to rotate around the vehicle 1 in a state of being spaced apart from the vehicle 1.

The link unit 120 includes a first vertical link 121, a first horizontal link 125, a second horizontal link 126, a second vertical link 122, and a third vertical link 123.

The first vertical link 121 is connected in a vertical direction from the fixing part 110.

The first horizontal link 125 is connected in a horizontal direction from the first vertical link 121.

The second horizontal link 126 is connected in a horizontal direction from the first horizontal link 125, and has a folded structure.

The second vertical link 122 is connected in a vertical direction between the first horizontal link 125 and the second horizontal link 126.

The third vertical link 123 is connected to the longitudinal end of the second horizontal link 126 in a vertical direction.

In this case, the first, second, and third vertical links 121, 122, and 123 can be lifted and lowered.

The second and third vertical links 122 and 123 are provided with a ball caster 127 capable of rotating in the axial direction at the lower end.

The ball caster 127 effectively supports the second and third vertical links 122 and 123 to prevent the first and second horizontal links 125 and 126 from being bent and deformed downward.

The checker board 140 is a grid-striped plate and is disposed on the link unit 120. At this time, the checker board 140 is fixed on the second horizontal link 126 through a separate fastener 141.

The fixture 141 is formed in a form detachable from the second horizontal link 126 and can be horizontally moved by a control unit on the second horizontal link 126.

A camera sensor to be calibrated captures the checker board 140.

The control unit controls the driving of the link unit 120, and performs rotational driving of the checker board 140 and the initial position value of the checker board 140 based on the image information value obtained from the image unit (not shown). A relative positional relationship between the transformed position value of the checker board 140 and the fixing unit 110 is measured.

The relative positional relationship between the center point of the vehicle and the checker board may be calculated by the control unit and transmitted to the ECU of the vehicle, and the ECU of the vehicle transmits information on the relative positional relationship between the checker board 140 and the fixing unit 110 from the control unit. You can also take it and calculate it from it.

5 is a view in which an elastic member is applied to a deformed link portion in the apparatus for calibrating a sensor of an autonomous vehicle according to the first embodiment of the present invention.

Referring to FIG. 5, the elastic member 180 is disposed on the axis of the third vertical link 123 of the link unit 120.

When the bottom surface of the elastic member 180 is uneven, the elastic member 180 may be disposed on the third vertical link 123 to allow the link unit 120 to be horizontal.

In other words, the elastic member 180 performs a buffer function on the third vertical link 123.

Accordingly, when the ball caster 127 passes through the uneven bottom surface, the elastic member 180 allows the third vertical link 123 to be lifted and adjusted so that the link unit 120 is horizontally formed. .

Embodiment 2

6 is a view showing an operation relationship between an apparatus for calibrating a sensor and a configuration of an autonomous vehicle according to a second embodiment of the present invention from the side.

Referring to FIG. 6, the device 100 for a sensor calibration line of an autonomous vehicle according to the second embodiment of the present invention has a fixed part 110 fixed to a fixed structure located above the upper structure 10. Consists of

Here, the upper structure 10 refers to a ceiling, a wall, and other fixed structures located on the upper part.

Through this, the link unit 120 has a structure in which there is no ball caster (127 in FIG. 4) at the lower end of the second vertical link 122.

That is, since the link unit 120 is rotatably connected to the fixing unit 110 fixed to the upper structure 10 as described above, the periphery of the vehicle 1 without the ball caster (127 in FIG. 4) You can rotate and calibrate.

7 is a view showing a modified embodiment of a link unit in the apparatus for calibrating a sensor of an autonomous vehicle according to a second embodiment of the present invention.

Referring to FIG. 7, a ball caster 127 is provided below the second vertical link 122 of the link unit 120.

The ball caster 127 is provided to prevent the horizontal link 124 from being deformed downward without withstanding a load through a separate external pressure or gravity.

In this case, the fixing part 110 can be moved in the x-axis and y-axis directions on the upper structure 10.

The fixing part 110 can be lifted and lowered in the z-axis direction by the control unit.

The fixing part 110 is movably connected to an x-axis rail (not shown) and a y-axis rail crossing the x-axis rail (not shown).

At this time, the x-axis rail and the y-axis rail are arranged on the ceiling in a grid form.

The fixing part 110 is detachable on the x-axis rail and the y-axis rail.

The link unit 120 is rotatably connected to the fixing unit so as to rotate around the vehicle 1 in a state of being spaced apart from the vehicle 1.

The control unit controls the driving of the fixing unit 110 and the link unit 120.

The link unit 120 includes a first vertical link 121 connected in a vertical direction to the lower end of the fixing unit 110, a horizontal link 124 connected in a horizontal direction from the first vertical link 121, and the horizontal link It includes a second vertical link 122 connected in the vertical direction from (124).

A light emitting device 160 is disposed at a lower end of the first vertical link 121, and a light receiving device 170 spaced apart from the light emitting device 160 is disposed at an upper end of the vehicle 1.

In this case, the control unit receives the transmission/reception information values of the light emitting device 160 and the light receiving device 170 and compares the values with a preset reference value.

Here, the control unit locates the fixing unit 110 and the link unit 120 on the upper portion of the vehicle 1 to determine the position of the vehicle 1 arbitrarily arranged through the comparison and operation result value, and to facilitate calibration. Let it.

8 is a view in which an elastic member is applied to a deformed link portion in an apparatus for calibrating a sensor of an autonomous vehicle according to a second embodiment of the present invention.

Referring to FIG. 8, a ball caster 127 is provided below the second vertical link 122 of the link unit 120, and an elastic member 180 is provided on the second vertical link 122.

The ball caster 127 is provided to prevent the horizontal link 124 from being deformed downward without withstanding a load through a separate external pressure or gravity.

When the bottom surface of the elastic member 180 is uneven, the elastic member 180 may be disposed on the second vertical link 122 to allow the link unit 120 to be horizontal.

At this time, the control unit receives a transmission/reception value from a separate motor (not shown) or a position sensor (not shown) and measures the distance between the second vertical link 122 and the floor surface. This control unit increases and lowers the second vertical link 122 by comparing and calculating the distance value with a preset reference value.

In the process of lifting and lowering the second vertical link 122, the elastic member 180 smoothly performs a calibration operation, the second vertical link 122 so that the link unit 120 is horizontal. Adjust the elasticity up and down.

9 is a plan view illustrating a method of calculating a relative position between a fixing unit and a checker board for calibration in an apparatus for calibrating a sensor of an autonomous vehicle according to an exemplary embodiment of the present invention.

Although the present invention described in FIGS. 2 to 8 has only mentioned parts that are characterized in terms of the structure, the present invention commonly uses the checker board 140 to calibrate the sensor.

In this case, referring to FIG. 9, the fixing part 110 is spaced apart from the reference point of the vehicle 1 to the top (in the z-axis direction of FIG. 8 ). At this time, the distance on the horizontal plane from the fixing part 110 to the checker board 140 is B+Q.

If the angle between the present invention and the center line in the x-axis direction of the vehicle 1 is θ, the checker board 140 is x'=(B+Q) from the center point of the vehicle 1 in the x-axis and y-axis directions, respectively. cos(θ) and y'=(B+Q)sin(θ).

If the size of the checker board 140 and the size of the pattern in the checker board 140 can be known, the distance between the center point of the vehicle 1 and a specific position in the checker board 100 can be easily known by the same principle. . From this, it is possible to calculate a specific position within each sensor and checker board 100.

The image unit acquires a plurality of images while rotating at various angles. For accurate calibration, B+Q is usually around 5-10 meters. Also, the size of the square in the checkerboard should be around 50cm x50cm.

Here, the checker board 140 may be disposed on the first horizontal link 125 in section B. In this case, when the angle between the present invention and the center line in the x-axis direction of the vehicle 1 is θ, the checker board 140 is x'=Bcos(θ) from the center point of the vehicle 1 in the x-axis and y-axis directions, respectively. And y'=Bsin(θ).

As described above, the present invention can provide an apparatus for sensor calibration that can easily perform calibration even when a vehicle is stopped at an arbitrary position.

In addition, the sensor calibration apparatus according to the present invention enables sensor calibration in a state in which the vehicle is freely positioned, without the need to position the vehicle in a designated position at a designated location in a designated posture.

In addition, the present invention can easily calibrate even if the size of the vehicle or the position of the vehicle center point in the vehicle changes.

The present invention is not limited to the above-described embodiments, and can be implemented with various modifications within the scope of the technical idea of the present invention.

1: autonomous vehicle 2: conventional checker board
3: camera sensor 10: superstructure
100: device for sensor calibration of autonomous vehicles
101: sensor unit 110: fixed unit
120: link unit 121: first vertical link
122: second vertical link 123: third vertical link
124: horizontal link 125: first horizontal link
126: second horizontal link 127: ball caster
140: checker board 141: fixture
160: light-emitting element 170: light-receiving element
180: elastic member

Claims (19)

A fixing part connected to an upper end of a vehicle arbitrarily arranged at an unspecified position;
A link unit rotatably connected to the fixing unit while spaced apart from the vehicle;
A checker board disposed on the link unit;
An image unit for photographing the checker board; And
Controls the driving of the link unit, but based on the image information value obtained from the image unit, the initial position value of the checker board and the relative positional relationship between the converted position value of the checker board changed through rotational driving of the link unit and the fixing unit Including a control unit for measuring,
The link part
For sensor calibration of an autonomous vehicle, one end of the fixed part can be adjusted in the horizontal direction, and the other end is spaced apart from the floor surface and has a'L' shape that can be adjusted in the vertical direction. Device.
The method of claim 1,
The fixing part
An apparatus for calibrating a sensor of an autonomous vehicle that has the same coordinate value in the horizontal direction as the center point of the vehicle.
The method of claim 1,
The link part
A first vertical link connected in a vertical direction from the fixing part;
A first horizontal link connected in a horizontal direction from the first vertical link;
A second horizontal link connected in a horizontal direction from the first horizontal link, made of a folded structure, and on which the checker board is disposed;
A second vertical link connected in a vertical direction between the first horizontal link and the second horizontal link; And
An apparatus for calibrating a sensor of an autonomous vehicle comprising a third vertical link connected in a vertical direction to an end of the second horizontal link in a longitudinal direction.
The method of claim 3,
The first, second, and third vertical links are
A device for sensor calibration of autonomous vehicles that can adjust the elevation.
The method of claim 3,
At the bottom of the second and third vertical links
A device for calibrating a sensor of an autonomous vehicle that is provided with a ball caster that is movable between the floor and the floor.
The method of claim 5,
On the third vertical link
When the ball caster passes the floor surface, the third vertical link is adjusted up and down, and an elastic member having a buffer function is provided so that the link portion is horizontal.
The method of claim 1,
The video unit
An apparatus for calibrating a sensor of an autonomous vehicle that is disposed on the same line as the fixing part.
The method of claim 3,
The fixing part
An apparatus for calibrating a sensor of an autonomous vehicle that is made in a form capable of being in close contact with the second horizontal link and capable of horizontal movement on the second horizontal link.
The method of claim 1,
The link part
A first vertical link connected in a vertical direction from the fixing part;
A horizontal link connected in a horizontal direction from the first vertical link; And
An apparatus for calibrating a sensor of an autonomous vehicle comprising a second vertical link connected in a vertical direction from the horizontal link.
The method of claim 9,
At the bottom of the second vertical link
A device for calibrating a sensor of an autonomous vehicle that is provided with a ball caster that is movable between the floor and the floor.
The method of claim 10,
On the second vertical link
When the ball caster passes the floor surface, the second vertical link is adjusted up and down, and an elastic member having a buffer function is provided so that the link portion is horizontal.
In the sensor calibration device of an autonomous vehicle,
a fixing part movable in the x-axis and y-axis directions;
A link part rotatably connected to the fixing part while spaced apart from the vehicle; And
A device for calibrating a sensor of an autonomous vehicle comprising a; a control unit for controlling the driving of the fixing unit and the link unit.
The method of claim 12,
The link part
A first vertical link connected in a vertical direction to a lower end of the fixing part;
A horizontal link connected in a horizontal direction from the first vertical link; And
A second vertical link connected in a vertical direction from the horizontal link; a sensor calibration apparatus for an autonomous vehicle comprising a.
The method of claim 13,
A light emitting device is disposed at the lower end of the first vertical link,
A light-receiving element spaced apart from the light-emitting element is disposed at the top of the vehicle,
The control unit
For sensor calibration of an autonomous vehicle, which receives the transmission/reception information value of the light-emitting element and the light-receiving element, compares it with a preset reference value, and drives the fixing part and the link part to a position capable of sensor calibration according to the position of the vehicle Device.
The method of claim 12,
The control unit
The device for calibrating a sensor of an autonomous vehicle to drive the fixing part and the link part to a position capable of sensor calibration according to the position of the vehicle.
The method of claim 15,
The control unit
An apparatus for calibrating a sensor of an autonomous vehicle to measure a relative positional relationship between the link unit driven to a position where the sensor can be calibrated and various sensors built into the vehicle.
The method of claim 12,
The fixing part
An apparatus for calibrating a sensor of an autonomous vehicle that is capable of adjusting the elevation in the z-axis direction by the control unit.
The method of claim 12,
The fixing part
It is movably connected to the x-axis rail and the y-axis rail crossing the x-axis rail,
The x-axis rail and y-axis rail,
A device for sensor calibration of autonomous vehicles, which is placed on the ceiling in a grid format.
The method of claim 18,
The fixing part
An apparatus for calibrating a sensor of an autonomous vehicle that is detachable on the x-axis rail and the y-axis rail.

Images