CN112598756A - Roadside sensor calibration method and device and electronic equipment - Google Patents
Roadside sensor calibration method and device and electronic equipment Download PDFInfo
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- CN112598756A CN112598756A CN202110232564.8A CN202110232564A CN112598756A CN 112598756 A CN112598756 A CN 112598756A CN 202110232564 A CN202110232564 A CN 202110232564A CN 112598756 A CN112598756 A CN 112598756A
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The invention provides a roadside sensor calibration method, a roadside sensor calibration device and electronic equipment, which are suitable for a vehicle-road coordination system, wherein the vehicle-road coordination system comprises a roadside sensor, a vehicle-mounted sensor, an observation target and a server. The invention can finish the pose calibration of the roadside sensor by directly utilizing the vehicles in the vehicle-road cooperation to run on the road, thereby greatly improving the efficiency of the calibration work.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a roadside sensor calibration method, a roadside sensor calibration device and electronic equipment.
Background
In a roadside unit, a camera is one of the most basic sensors, and to provide effective observation for vehicle and road cooperation, the pose of the camera itself needs to be acquired first. When a camera of a roadside unit is calibrated currently, a laser radar needs to be carried on the roadside unit at the same time, and after the pose change between the camera and the laser radar is acquired, the pose of the camera in a preset map is determined by taking the laser radar as an intermediate state. However, in the vehicle-road cooperation, the observation tasks performed by roadside units located at different positions on the road are inconsistent, and not all roadside units are fixedly equipped with the lidar. For a camera of a roadside unit without carrying a laser radar, the laser radar needs to be temporarily installed for calibration; on the other hand, in order to ensure that the roadside unit can effectively observe the target in the vehicle-road cooperation, the effective observation areas of the camera and the laser radar are different, when the calibration is performed by using the calibration device shared by the camera and the laser radar, the calibration needs to be performed in the areas where the camera and the laser radar have good observation, and the orientation and the distance of the calibration device need to be adjusted, so that the calibration device can be influenced by strong wind, dust and the like in an outdoor road environment. The above two points all affect the efficiency of the calibration work.
Therefore, the existing roadside camera calibration has the technical problem of low efficiency, and needs to be improved.
Disclosure of Invention
The invention provides a roadside sensor calibration method, a roadside sensor calibration device and electronic equipment, which are used for relieving the technical problem of low efficiency in calibration of the conventional roadside camera.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention provides a roadside sensor calibration method, which is suitable for a vehicle-road coordination system, wherein the vehicle-road coordination system comprises at least one roadside sensor arranged on a target lane, a vehicle running along the target lane, a vehicle-mounted sensor, an observation target and a server, the roadside sensor calibration method is applied to the server, and the roadside sensor calibration method comprises the following steps:
acquiring a first pose of the vehicle in a preset map, and acquiring a first pose transformation relation between the vehicle and the vehicle-mounted sensor;
determining a second pose of the vehicle-mounted sensor in the preset map according to the first pose and the first pose transformation relation;
acquiring a third pose of the vehicle-mounted sensor under an observation coordinate system of an observation target, and acquiring a fourth pose of a target roadside sensor under the observation coordinate system;
and determining the target pose of the target roadside sensor in the preset map according to the second pose, the third pose and the fourth pose.
The invention also provides a roadside sensor calibration device, which is suitable for a vehicle-road coordination system, the vehicle-road coordination system comprises at least one roadside sensor arranged on a target lane, a vehicle running along the target lane, a vehicle-mounted sensor, an observation target and a server, the roadside sensor calibration device is arranged in the server, and the roadside sensor calibration device comprises:
the first acquisition module is used for acquiring a first pose of the vehicle in a preset map and acquiring a first pose transformation relation between the vehicle and the vehicle-mounted sensor;
the first determination module is used for determining a second pose of the vehicle-mounted sensor in the preset map according to the first pose and the first pose transformation relation;
the second acquisition module is used for acquiring a third pose of the vehicle-mounted sensor under an observation coordinate system of an observation target and acquiring a fourth pose of the target roadside sensor under the observation coordinate system;
and the second determination module is used for determining the target pose of the target roadside sensor in the preset map according to the second pose, the third pose and the fourth pose.
The invention also provides an electronic device comprising a memory and a processor; the memory stores an application program, and the processor is used for running the application program in the memory to execute the operation in the roadside sensor calibration method.
The invention also provides a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to realize the roadside sensor calibration method.
Has the advantages that: the invention provides a roadside sensor calibration method, a roadside sensor calibration device and electronic equipment, which are suitable for a vehicle-road coordination system, wherein the vehicle-road coordination system comprises at least one roadside sensor arranged on a target lane, a vehicle running along the target lane, a vehicle-mounted sensor, an observation target and a server, the roadside sensor calibration method is applied to the server, the roadside sensor calibration method firstly acquires a first pose of the vehicle in a preset map and acquires a first pose transformation relation between the vehicle and the vehicle-mounted sensor, then determines a second pose of the vehicle-mounted sensor in the preset map according to the first pose and the first pose transformation relation, then acquires a third pose of the vehicle-mounted sensor under an observation coordinate system of the observation target and acquires a fourth pose of the target roadside sensor under the observation coordinate system, and finally, determining the target pose of the target roadside sensor in the preset map according to the second pose, the third pose and the fourth pose. According to the invention, after the pose of the vehicle-mounted sensor in the preset map is obtained, the same observation target is observed through the vehicle-mounted sensor and the roadside sensors, so that the target pose of the roadside sensors in the preset map can be inverted according to the observation result of the vehicle-mounted sensor with the known pose to the observation target, and in the whole process, the poses of all the roadside sensors can be sequentially calibrated by directly utilizing vehicles in vehicle-road cooperation to run on the road, so that the requirements of roadside units for carrying the laser radar can be reduced, the use of a complicated camera laser radar calibration device is also omitted, other operations are not required in the calibration process, and the calibration efficiency is greatly improved.
Drawings
The technical solution and other advantages of the present invention will become apparent from the following detailed description of specific embodiments of the present invention, which is to be read in connection with the accompanying drawings.
Fig. 1 is a schematic view of a scene in which the roadside sensor calibration method provided by the present invention is applicable.
Fig. 2 is a schematic flow chart of the roadside sensor calibration method provided by the invention.
Fig. 3 is a schematic diagram of a calibration scenario in the present invention.
FIG. 4 is another schematic diagram of a calibration scenario in accordance with the present invention.
Fig. 5 is a schematic view of the visualization of the calibration result in the present invention.
Fig. 6 is a schematic structural diagram of the roadside sensor calibration apparatus provided by the present invention.
Fig. 7 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.
The invention provides a roadside sensor calibration method, a roadside sensor calibration device and electronic equipment, which are used for relieving the technical problem of low efficiency in calibration of the conventional roadside camera.
In the invention, the vehicle-road cooperative system adopts advanced wireless communication, new generation internet and other technologies, implements vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time-space dynamic traffic information acquisition and fusion, fully realizes effective cooperation of human and vehicle roads, ensures traffic safety, improves traffic efficiency, and thus forms a safe, efficient and environment-friendly road traffic system.
In the present invention, the pose refers to the position and rotation angle of the target object.
Referring to fig. 1, fig. 1 is a schematic view of a scene applicable to the roadside sensor calibration method provided by the present invention, where the scene may include terminals and servers, and the terminals, the servers, and the terminals and the servers are connected and communicated through the internet formed by various gateways, and the application scene includes a roadside sensor 11, a vehicle 12, a vehicle-mounted sensor 13, an observation target 14, and a server (not shown); wherein:
the roadside sensors 11 are roadside cameras arranged on two sides of a lane in the cooperation of the vehicle and the road, and can realize accurate acquisition of various lanes and relevant data of vehicles on the road and the like;
the vehicle 12 may be an automatic driving vehicle or a manned vehicle, and the vehicle 12 runs along a target lane and sequentially passes through the sensing range of each road side sensor 11;
the vehicle-mounted sensor 13 is a vehicle-mounted camera arranged on the vehicle 12 and is used for accurately sensing and collecting environmental data such as various lanes, vehicle-related data and obstacles on the road surface.
The observation target 14 is a calibration device for providing observation patterns to the in-vehicle sensor 13 and the roadside sensor 11, such as a calibration board provided with observation patterns such as checkerboard patterns, Aruco patterns, or chrouco patterns;
the server includes a local server and/or a remote server, etc.
The roadside sensors 11, the vehicle 12, the on-board sensors 13, the observation target 14 and the server are located in a wireless network or a wired network to realize data interaction between the five, wherein:
the method comprises the steps that a vehicle 12 runs on a target lane, when the roadside sensors 11 on two sides of the target lane need to be calibrated, the vehicle 12 stops, a server obtains a first pose of the vehicle 12 in a preset map according to a self-positioning function of the vehicle 12, obtains a first pose transformation relation of the vehicle 12 and a vehicle-mounted sensor 13 carried on the vehicle 12, then determines a second pose of the vehicle-mounted sensor 13 in the preset map according to the first pose and the first pose transformation relation, obtains a third pose of the vehicle-mounted sensor 13 in an observation coordinate system of an observation target 14, obtains a fourth pose of the roadside sensor 11 in the observation coordinate system, finally determines a target pose of the roadside sensor 11 in the preset map according to the second pose, the third pose and the fourth pose, and completes calibration work of the roadside sensor 11.
It should be noted that the system scenario diagram shown in fig. 1 is only an example, the server and the scenario described in the present invention are for more clearly illustrating the technical solution of the present invention, and do not constitute a limitation to the technical solution provided by the present invention, and it is known to those skilled in the art that as the system evolves and a new service scenario appears, the technical solution provided by the present invention is also applicable to similar technical problems. The following are detailed below. It should be noted that the following description of the embodiments is not intended to limit the preferred order of the embodiments.
Referring to fig. 2, fig. 2 is a schematic flow chart of a roadside sensor calibration method provided by the present invention, the method including:
s201: the method comprises the steps of obtaining a first pose of a vehicle in a preset map, and obtaining a first pose transformation relation between the vehicle and a vehicle-mounted sensor.
The preset map is used for reflecting the actual road conditions on the ground and providing driving guidance for driving of the vehicle, the preset map comprises high-precision coordinates and accurate road shapes, lane data of each lane of the road surface comprise lane sidelines, lane center lines, lane gradients, curvatures, headings, elevations, heels and the like which can be embodied in the preset map, and data such as overhead objects, protective railings, trees, road edge types, road edge landmarks and the like are also included. Before calibrating each roadside sensor in the target area, the invention needs to construct a preset map corresponding to the target area, the preset map comprises various environmental data in the target area, then the vehicle is controlled to run on the target lane of the target area, and calibration of the roadside sensors on two sides of the target lane is sequentially realized.
As shown in fig. 3, the vehicle 12 is mounted with the in-vehicle sensor 13, the vehicle 12 may be an autonomous vehicle or a conventional manned vehicle, the in-vehicle sensor 13 is specifically an in-vehicle camera, and the in-vehicle sensor 13 may be mounted at different positions of the vehicle 12 according to the type of the vehicle 12, the type of the in-vehicle camera, and the performance, but the positional relationship between the vehicle 12 and the in-vehicle sensor 13 is always fixed during the travel of the vehicle 12. When the vehicle 12 is in a running process and a roadside sensor 11 needs to be calibrated, the vehicle 12 stops, a first position and posture of the vehicle 12 in a preset map at the moment are obtained, and a first position and posture transformation relation between the vehicle 12 and a vehicle-mounted sensor 13 is obtained according to the fixed position relation between the vehicle 12 and the vehicle-mounted sensor 13.
In one embodiment, the step of acquiring the first pose of the vehicle in the preset map specifically includes: acquiring current environment data through a laser radar carried by a vehicle; and determining a first pose of the vehicle in the preset map according to a matching result of the current environment data and the global data of the preset map. As shown in fig. 3, the vehicle 12 is mounted with a laser radar 15 in addition to the vehicle-mounted camera. Sensing the environment in a target area through a laser radar, a visual sensor and the like carried by an unmanned vehicle, constructing an environment model to form a preset map, wherein the preset map comprises global data of the target area, when the vehicle 12 runs to a certain position, scanning the surrounding environment through the laser radar 15 on the vehicle 12 to obtain current environment data of the position environment, extracting the characteristics of geometric information and semantic information of a point-line surface in the current environment data, performing spatial change by combining with the initial position of the vehicle, matching the characteristics with the characteristic information in the global data of the preset map, and positioning the current position of the vehicle 12 on the preset map according to the matching result, so that the first pose of the vehicle 12 in the preset map can be obtained.
In one embodiment, the step of acquiring the first pose of the vehicle in the preset map further includes: acquiring a first attitude sequence of a vehicle in a preset map; and determining the first pose according to the average value of each pose in the first pose sequence. The first sequence of positions 1 is:
，i=1，2，3，...，
. The first sequence of poses 1 is a set of multiple poses of the vehicle 12 at the current location, each pose including the 7 parameters described above. In acquiring the first pose of the vehicle 12, since the vehicle 12 is in a stationary state and the scanning by the laser radar 15 on the vehicle 12 may be affected by the environment, the result may be inaccurate if only one observation is made. To filter out some possible noise, the pose of the vehicle 12 may be performed at the current location
Obtaining the pose of the vehicle, averaging the poses, and taking the average value as the first pose of the vehicle on a preset map
The concrete formula is as follows:
the first posture conversion relationship between the vehicle 12 and the on-vehicle sensor 13 may be obtained in various ways. In an embodiment, a three-line calibration method can be adopted, the axis of the vehicle 12 is kept parallel to three parallel lines on a flat ground, then the distances from the three parallel lines to the axis of the vehicle are respectively measured, then the three parallel lines are shot by using the vehicle-mounted sensor 13 on the vehicle 12, according to the perspective projection principle, imaging straight lines of the three straight lines in a shot image have the same vanishing point (namely intersection point) and different slopes, and according to the different slopes of the vanishing point and the three imaging straight lines, the first position and posture transformation relation between the vehicle 12 and the vehicle-mounted sensor 13 can be calculated by combining the distances from the three parallel lines to the axis of the vehicle, which are measured before.
In addition, in a customized calibration space or a specific calibration scene, feature points of known positions in a calibration object or the scene can be extracted for matching so as to obtain a first pose transformation relation; or determining an image vanishing point by utilizing a mode of solving an intersection point by utilizing a connection line of the matching feature points of the front frame and the rear frame of the natural scene, and calibrating based on the vanishing point to obtain the first pose transformation relation. The method for acquiring the first posture change relationship between the vehicle 12 and the vehicle-mounted sensor 13 is not limited, and the step of acquiring the first posture change relationship between the vehicle 12 and the vehicle-mounted sensor 13 can be performed before or after the step of acquiring the first posture of the vehicle 12 in the preset map, namely, the steps of acquiring the first posture and acquiring the first posture change relationship are not sequential.
S202: and determining a second pose of the vehicle-mounted sensor in a preset map according to the first pose and the first pose transformation relation.
The first attitude transformation relation represents the coordinate transformation between the sensor coordinate system of the in-vehicle sensor 13 and the vehicle coordinate system of the vehicle 12, and the first attitude transformation relation from the sensor coordinate system to the vehicle coordinate system is used
Indicating that the first position of the vehicle 12 in the preset map is known
And the first posture transformation relation
Then, the second position of the vehicle-mounted sensor 13 in the preset map can be directly calculated
，
、
And
satisfies the formula:
wherein the content of the first and second substances,
including parameters
， 
And
for the translation parameter between the coordinate origin on the preset map and the current position of the on-board sensor 13,
the corresponding rotation parameters are represented by quaternions.
S203: and acquiring a third pose of the vehicle-mounted sensor under an observation coordinate system of the observation target, and acquiring a fourth pose of the target roadside sensor under the observation coordinate system.
The observation target 14 is a calibration means for providing an observation pattern to the in-vehicle sensor 13 and the roadside sensor 11, such as a calibration board provided with a checkerboard pattern, an Aruco pattern, or a chrouco pattern, or the like. When establishing the observation coordinate system of the observation target 14, an observation center on the calibration board is obtained, and a specific position of the observation center is determined by the observation pattern on the calibration board, for example, when the observation pattern is an Aruco pattern, the observation center is the center of the Aruco pattern, and when the observation pattern is a checkerboard pattern, the observation center is a corner point at the upper left corner of the checkerboard. Taking the observation center as a coordinate origin O of the observation coordinate system, starting from the coordinate origin O, taking two mutually perpendicular directions on the plane of the calibration plate as an x axis and a y axis of the observation coordinate system respectively, and taking a direction perpendicular to the plane of the calibration plate and pointing to the outer side as a z axis of the observation coordinate system, so that the x axis, the y axis, the z axis and the coordinate origin O form the observation coordinate system of the observation target.
A plurality of roadside sensors 11 are arranged on two sides of a lane in a target area, the roadside sensors 11 which need to be calibrated at present are used as target roadside sensors, the vehicle-mounted sensors 13 and the target roadside sensors respectively observe an observed target, and the poses of the observed targets under an observation coordinate system can be obtained according to respective observation results. Specifically, the on-board sensor 13 first photographs the observation pattern of the calibration plate, obtains observation data of each feature point on the observation pattern, that is, coordinates of each feature point, according to the photographed result, then calculates a third pose of the on-board sensor in the observation coordinate system using a related camera calibration algorithm, and calculates a fourth pose of the target roadside sensor in the observation coordinate system using the same procedure.
The in-vehicle sensor 13 is used for the third posture in the observation coordinate system of the observation target 14
Is shown to be
Including parameters
Wherein
And
to observe the translation parameters between the target 14 and the current position of the onboard sensors 13,
the corresponding rotation parameters are represented by quaternions.
The fourth posture of the target roadside sensor under the observation coordinate system is used
Is shown to be
Including parameters
Wherein
And
to observe the translation parameters between the target 14 and the target wayside sensor's current location,
the corresponding rotation parameters are represented by quaternions.
In one embodiment, S203 specifically includes: acquiring a third posture sequence of the vehicle-mounted sensor under an observation coordinate system of the observation target; determining a third pose according to the average value of each pose in the third pose sequence; acquiring a fourth pose sequence of the roadside sensor under the observation coordinate system; and determining the fourth pose according to the average value of each pose in the fourth pose sequence.
The third sequence3 is:
，i=1，2，3，...，
. The third pose sequence3 is a set of poses of the in-vehicle sensor 13 in the observation coordinate system, each pose including the above 7 parameters. The fourth sequence4 is:
，i=1，2，3，...，
. The fourth pose sequence4 is a set of multiple poses of the target roadside sensor under the observation coordinate system, and each pose includes the above 7 parameters.
When the third pose of the on-board sensor 13 and the fourth pose of the target roadside sensor are obtained, since both the on-board sensor 13 and the target roadside sensor are in a static state, there is a possibility that they are influenced by the environment during observation, and if only one observation is performed, the result may be inaccurate. In order to filter out some possible noise, the pose of the vehicle-mounted sensor 13 can be respectively carried out at the current position
Secondary acquisition, the position and pose of the target roadside sensor are acquired
The secondary acquisition is carried out, then the poses are respectively averaged, and the average value is used as the third pose of the vehicle-mounted sensor 13
And fourth position of target roadside sensor
The concrete formulas are respectively as follows:
in the steps, the corresponding positions are directly obtained according to the mode of averaging the multiple poses in each pose sequence, but the multiple poses in the pose sequence can be preprocessed before averaging, if some poses with larger differences with other poses exist, the poses are probably influenced by the environment greatly, the poses with larger differences are removed firstly and then averaged, and the calculation result is more accurate.
S204: and determining the target pose of the target roadside sensor in a preset map according to the second pose, the third pose and the fourth pose.
Second position of known vehicle-mounted sensor in preset map
The third posture of the vehicle-mounted sensor under the observation coordinate system
And the fourth posture of the target roadside sensor under the observation coordinate system
Then, the target position and pose of the target roadside sensor in a preset map are set as
Then, then
、
、
And
satisfies the formula:
calculated by formula 2
And formulas (c) and (c) are calculated
And
the fifth formula is carried into, thus obtaining the target pose of the target roadside sensor in the preset map
Therefore, the calibration work of the target roadside sensor is completed. And controlling the vehicles 12 to sequentially run on the lanes of the target area, and finally completing the calibration of all the roadside sensors 11 in the target area.
It should be noted that, in the above embodiment, each pose is represented by 7 parameters, so that the corresponding pose can be obtained directly by averaging the respective pose sequences, the calculation method is simpler and has smaller error, and the pose calculation result is more accurate compared with the pose calculation result represented by other parameter forms. However, the invention is not limited thereto, and the pose may be represented by other parameter forms such as rotation matrix, euler angle, etc., and any parameter form that can clearly represent the pose of each object falls within the scope of the invention.
In one embodiment, before performing step S201, the method further includes: determining the setting position of an observation target according to the observation range of the target roadside sensor; and determining the parking position of the vehicle according to the set position. The target area comprises a plurality of lanes, a plurality of roadside sensors 11 are arranged on one side or two sides of each lane, the plurality of roadside sensors 11 are arranged in a distributed mode, when a certain target roadside sensor needs to be calibrated in the running process of a vehicle 12 along a certain lane, the vehicle 12 stops and an observation target 14 is placed in a proper place, and then the vehicle-mounted sensor 13 and the corresponding target roadside sensor observe the observation target 14 at the same time. After calibration of the target wayside sensor is complete, the vehicle 12 continues to travel along the lane until the next target wayside sensor is encountered, again performing parking of the vehicle 12 and placement of the observation target 14 for calibration. As can be seen from the above process, the setting position of the observation target 14 and the parking position of the vehicle 12 need to be determined again at each calibration, and in order to ensure the observation effect, the position of the observation target 14 and the parking position of the vehicle 12 need to be set appropriately.
When the setting position of the observation target 14 is determined, the target sensing range of the target roadside sensor is acquired first, the roadside sensors 11 are installed according to the preset pose in the preset map, and the actual pose of each roadside sensor 11 is calibrated after the installation is completed, so that the sensing range information of each roadside sensor 11 can be directly acquired in the preset map.
In the present invention, after each roadside sensor 11 is disposed on both sides of a lane, an approximate observation range of the roadside sensor 11 can be obtained, and when observing a target roadside sensor, a suitable position is selected as a set point of an observation target 14 in the observation range of the target roadside sensor, the observation target 14 is placed at the position, and an angle of the observation target is appropriately adjusted, so that the observation effect of the roadside sensor 11 is better. Then, when the vehicle 12 is going to travel to the area where the target roadside sensor is located, the parking position of the vehicle 12 is determined according to the current setting position of the observation target 14, and the angle of the vehicle 12 is properly adjusted, so that both the target roadside sensor and the vehicle-mounted sensor 13 have good observation angles, and calibration data of both the target roadside sensor and the vehicle-mounted sensor are more accurate.
In one embodiment, the step of determining the setting position of the observation target according to the observation range of the target roadside sensor includes: acquiring observation ranges of at least two target roadside sensors; determining observation coincidence ranges of at least two target roadside sensors according to the at least two observation ranges; and determining the setting position of the observation target according to the observation overlapping range. The above embodiment is described by taking an example of calibrating one target roadside sensor each time, and in an actual scene, roadside sensors in some areas are densely arranged, or when one roadside unit includes two or more roadside sensors, observation ranges of different roadside sensors overlap, and then two or more roadside sensors are calibrated at the same time.
Taking two roadside sensors as an example for each calibration, as shown in fig. 4, the roadside sensors include a first roadside sensor 111 and a second roadside sensor 112, a first observation range of the first roadside sensor 111 and a second observation range of the second roadside sensor 112 are respectively obtained, each observation range is represented by a dotted line in fig. 4, then an observation overlapping range of the first observation range and the second observation range is determined, an appropriate position is selected as a setting point of the observation target 14 in the observation overlapping range, the observation target 14 is placed at the position, and an angle of the observation target is appropriately adjusted, so that both the observation effects of the first roadside sensor 111 and the second roadside sensor 112 are better. Then, when the vehicle 12 is going to travel to the area where the first roadside sensor 111 and the second roadside sensor 112 are located, the parking position of the vehicle 12 is determined according to the current setting position of the observation target 14, and the angle of the vehicle 12 is appropriately adjusted, so that the first roadside sensor 111, the second roadside sensor 112, and the vehicle-mounted sensor 13 all have good observation angles, and thus respective calibration data are more accurate. Through the above steps, the target poses of the first roadside sensor 111 and the second roadside sensor 112 can be obtained simultaneously, as shown in fig. 5, the calibration result can be displayed through visualization software, for example, "ue 08p 01" represents the target pose of the first roadside sensor 111, "ue 08p 02" represents the target pose of the second roadside sensor 112, and the multiple roadside sensors are calibrated simultaneously, so that the calibration efficiency is further improved.
In one embodiment, after the step of determining the target pose of the target roadside sensor in the preset map, the method further comprises: comparing the target pose with a preset pose; and adjusting the actual pose of the target roadside sensor according to the comparison result. Under the cooperative scene of the vehicle and the road, the roadside sensors arranged at different positions of the lane are used for executing different observation tasks, the different roadside sensors have a preset pose before the setting, and if the actual pose after the setting of the roadside sensors is consistent with the preset pose, the matching effect of the observation data of the roadside sensors and a preset map is better. In an actual scene, because the installation process of the roadside sensors is influenced by various workers and environments and has a certain difference with a preset pose, after the target pose of a certain target roadside sensor is obtained through calculation in the steps, the target pose is compared with the preset pose, the difference between the target pose and the preset pose is calculated according to the comparison result, and therefore the actual pose of the target roadside sensor can be adjusted according to the difference and is kept consistent with the preset pose. In addition, after the roadside sensor is installed for a period of time, the pose of the roadside sensor can be changed due to environmental factors, the pose of the roadside sensor can be calibrated and adjusted by matching a running vehicle with an observation target by using the method, and other work can be carried out on the vehicle in the running process.
In one embodiment, after S204, the method further includes: respectively acquiring target poses of different target roadside sensors in a preset map; and determining a second position and posture transformation relation among the roadside sensors of different targets according to the position and posture of each target. The multiple roadside sensors with overlapped observation ranges can simultaneously sense the same visual target, more accurate sensing data can be obtained by combining multiple sensing results, and after the target poses of different target roadside sensors in a preset map are obtained, the second pose transformation relation among the different target roadside sensors can be determined, so that the sensing result of one target roadside sensor can be put into a coordinate system corresponding to the other target roadside sensor to be represented, and the joint calibration of the multiple sensors is realized.
In the mainstream roadside sensor calibration method at present, a roadside sensor and a laser radar are arranged in a roadside unit at the same time, and the laser radar is used as an intermediate state to calibrate the roadside sensor. However, for a camera of a roadside unit without a laser radar, the laser radar needs to be temporarily installed for calibration, and when the calibration is performed by using a calibration device common to the camera and the laser radar, the calibration needs to be performed in an area where the camera and the laser radar have good observation, and the orientation and the distance of the calibration device need to be adjusted, so that the current calibration efficiency is low.
According to the embodiment, on one hand, the roadside sensor calibration method provided by the invention utilizes the vehicle-mounted sensor carried on the vehicle in vehicle-road cooperation to carry out auxiliary observation, so that the requirement of roadside units for carrying the laser radar can be reduced, and the arrangement cost and the labor cost are effectively reduced; on the other hand, the vehicle-mounted camera and the roadside camera of the roadside unit observe the observation target together, so that a complex camera laser radar calibration device is omitted, and only the effective observation range of the observation target is considered; furthermore, the target pose of the roadside camera in the preset map is inverted according to the observation result of the vehicle-mounted camera with the known pose to the observation target, the observation and inversion process only relates to the observation data between the camera and the observation target, and the observation data related to the laser radar does not need to be processed, so that the rapid automatic calibration can be realized, the roadside camera is calibrated, the average time from data input to result output is only 3 seconds, other operations are not needed in the calibration process, and the calibration efficiency is greatly improved.
Correspondingly, fig. 6 is a schematic structural diagram of the roadside sensor calibration apparatus provided by the present invention, please refer to fig. 6, the roadside sensor calibration apparatus is suitable for a vehicle-road coordination system, the vehicle-road coordination system includes at least one roadside sensor arranged on a target lane, a vehicle running along the target lane, a vehicle-mounted sensor, an observation target and a server, the roadside sensor calibration apparatus is arranged in the server, the roadside sensor calibration apparatus includes:
the first obtaining module 110 is configured to obtain a first pose of the vehicle in a preset map, and obtain a first pose transformation relationship between the vehicle and the vehicle-mounted sensor;
the first determination module 120 is configured to determine a second pose of the vehicle-mounted sensor in the preset map according to the first pose and the first pose transformation relation;
the second obtaining module 130 is configured to obtain a third pose of the vehicle-mounted sensor in an observation coordinate system of the observation target, and obtain a fourth pose of the target roadside sensor in the observation coordinate system;
and the second determining module 140 is configured to determine the target pose of the target roadside sensor in the preset map according to the second pose, the third pose and the fourth pose.
In one embodiment, the first obtaining module 110 includes:
the first obtaining submodule is used for obtaining current environment data through a laser radar carried by a vehicle;
and the first determining submodule is used for determining a first pose of the vehicle in the preset map according to the matching result of the current environment data and the global data of the preset map.
In one embodiment, the first obtaining module 110 includes:
the second acquisition submodule is used for acquiring a first position sequence of the vehicle in a preset map;
and the second determining submodule is used for determining the first pose according to the average value of each pose in the first pose sequence.
In one embodiment, the second obtaining module 130 includes:
the third obtaining submodule is used for obtaining a third posture sequence of the vehicle-mounted sensor under an observation coordinate system of the observation target;
the third determining submodule is used for determining a third pose according to the average value of each pose in the third pose sequence;
the fourth acquisition submodule is used for acquiring a fourth pose sequence of the roadside sensor under the observation coordinate system;
and the fourth determining submodule is used for determining the fourth pose according to the average value of each pose in the fourth pose sequence.
In an embodiment, the roadside sensor calibration apparatus further includes a third determination module and a fourth determination module, where the third determination module and the fourth determination module operate before the first obtaining module 110, and the third determination module is configured to determine a setting position of an observation target according to an observation range of a target roadside sensor; the fourth determining module is used for determining the parking position of the vehicle according to the set position.
In one embodiment, the third determining module comprises:
the fifth acquisition submodule is used for acquiring the observation ranges of at least two target roadside sensors;
the fifth determining submodule is used for determining observation coincidence ranges of the at least two target roadside sensors according to the at least two observation ranges;
and the sixth determining submodule is used for determining the setting position of the observation target according to the observation coincidence range.
In one embodiment, the roadside sensor calibration apparatus further includes an adjustment module, configured to operate after the second determination module 140, and configured to compare the target pose with a preset pose; and adjusting the actual pose of the target roadside sensor according to the comparison result.
In an embodiment, the roadside sensor calibration apparatus further includes a fourth determination module, the fourth determination module is configured to operate after the second determination module 140, and the fourth determination module is configured to respectively acquire target poses of different target roadside sensors in a preset map; and determining a second position and posture transformation relation among the roadside sensors of different targets according to the position and posture of each target.
Different from the prior art, the roadside sensor calibration device provided by the invention can observe the same observation target through the vehicle-mounted sensor and the roadside sensor after the pose of the vehicle-mounted sensor in the preset map is obtained, so that the target pose of the roadside sensor in the preset map can be inverted according to the observation result of the vehicle-mounted sensor with the known pose to the observation target, in the whole process, the pose calibration of the roadside sensor can be completed by directly utilizing an automatic driving automobile in the vehicle-road cooperation to drive on the road, the requirement of a roadside unit for carrying a laser radar can be reduced, the use of a complicated camera laser radar calibration device is also omitted, other operations are not needed in the calibration process, and the calibration efficiency is greatly improved.
Accordingly, the present invention also provides an electronic device, as shown in fig. 7, which may include radio frequency circuitry 701, a memory 702 including one or more computer-readable storage media, an input unit 703, a display unit 704, a sensor 705, audio circuitry 706, a WiFi module 707, a processor 708 including one or more processing cores, and a power supply 709. Those skilled in the art will appreciate that the electronic device configuration shown in fig. 7 does not constitute a limitation of the electronic device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components. Wherein:
the rf circuit 701 may be used for receiving and transmitting signals during information transmission and reception or during a call, and in particular, receives downlink information of a base station and then sends the received downlink information to the one or more processors 708 for processing; in addition, data relating to uplink is transmitted to the base station. The memory 702 may be used to store software programs and modules, and the processor 708 executes various functional applications and data processing by operating the software programs and modules stored in the memory 702. The input unit 703 may be used to receive input numeric or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.
The display unit 704 may be used to display information input by or provided to a user and various graphical user interfaces of the electronic device, which may be made up of graphics, text, icons, video, and any combination thereof.
The electronic device may also include at least one sensor 705, such as a light sensor, motion sensor, and other sensors. The audio circuitry 706 includes speakers that can provide an audio interface between the user and the electronic device.
WiFi belongs to short-range wireless transmission technology, and the electronic device can help the user send and receive e-mail, browse web pages, access streaming media, etc. through the WiFi module 707, which provides wireless broadband internet access for the user. Although fig. 7 shows the WiFi module 707, it is understood that it does not belong to the essential constitution of the electronic device, and may be omitted entirely as needed within the scope of not changing the essence of the application.
The processor 708 is a control center of the electronic device, connects various parts of the entire mobile phone using various interfaces and lines, and performs various functions of the electronic device and processes data by running or executing software programs and/or modules stored in the memory 702 and calling data stored in the memory 702, thereby performing overall monitoring of the mobile phone.
The electronic device also includes a power source 709 (e.g., a battery) for supplying power to various components, which may preferably be logically connected to the processor 708 via a power management system, such that functions of managing charging, discharging, and power consumption are performed via the power management system.
Although not shown, the electronic device may further include a camera, a bluetooth module, and the like, which are not described in detail herein. Specifically, in this embodiment, the processor 708 in the electronic device loads the executable file corresponding to the process of one or more application programs into the memory 702 according to the following instructions, and the processor 708 runs the application programs stored in the memory 702, so as to implement the following functions:
acquiring a first pose of a vehicle in a preset map, and acquiring a first pose transformation relation between the vehicle and a vehicle-mounted sensor; determining a second pose of the vehicle-mounted sensor in a preset map according to the first pose and the first pose transformation relation; acquiring a third pose of the vehicle-mounted sensor under an observation coordinate system of an observation target, and acquiring a fourth pose of the target roadside sensor under the observation coordinate system; and determining the target pose of the target roadside sensor in a preset map according to the second pose, the third pose and the fourth pose.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.
To this end, the present invention provides a computer readable storage medium having stored therein a plurality of instructions that are loadable by a processor to cause the following functions:
acquiring a first pose of a vehicle in a preset map, and acquiring a first pose transformation relation between the vehicle and a vehicle-mounted sensor; determining a second pose of the vehicle-mounted sensor in a preset map according to the first pose and the first pose transformation relation; acquiring a third pose of the vehicle-mounted sensor under an observation coordinate system of an observation target, and acquiring a fourth pose of the target roadside sensor under the observation coordinate system; and determining the target pose of the target roadside sensor in a preset map according to the second pose, the third pose and the fourth pose.
The above operations can be implemented in the foregoing embodiments, and are not described in detail herein.
Wherein the computer-readable storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Since the instructions stored in the computer-readable storage medium can execute the steps of any method provided by the present invention, the beneficial effects that any method provided by the present invention can achieve can be achieved, for details, see the foregoing embodiments, and are not described herein again.
The roadside sensor calibration method, the roadside sensor calibration device, the electronic equipment and the storage medium provided by the invention are described in detail, specific examples are applied in the text to explain the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the technical scheme and the core idea of the invention; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A roadside sensor calibration method is applicable to a vehicle-road coordination system, the vehicle-road coordination system comprises at least one roadside sensor arranged on a target lane, a vehicle driving along the target lane, an on-board sensor, an observation target and a server, the roadside sensor calibration method is applied to the server, and the roadside sensor calibration method comprises the following steps:
acquiring a first pose of the vehicle in a preset map, and acquiring a first pose transformation relation between the vehicle and the vehicle-mounted sensor;
determining a second pose of the vehicle-mounted sensor in the preset map according to the first pose and the first pose transformation relation;
acquiring a third pose of the vehicle-mounted sensor under an observation coordinate system of an observation target, and acquiring a fourth pose of a target roadside sensor under the observation coordinate system;
and determining the target pose of the target roadside sensor in the preset map according to the second pose, the third pose and the fourth pose.
2. The roadside sensor calibration method as set forth in claim 1, wherein the step of acquiring the first pose of the vehicle in a preset map comprises:
acquiring current environment data through a laser radar carried by the vehicle;
and determining a first pose of the vehicle in the preset map according to a matching result of the current environment data and global data of the preset map.
3. The roadside sensor calibration method as set forth in claim 1, wherein the step of acquiring the first pose of the vehicle in a preset map comprises:
acquiring a first attitude sequence of the vehicle in a preset map;
and determining a first pose according to the average value of each pose in the first pose sequence.
4. The roadside sensor calibration method as set forth in claim 1, wherein the step of obtaining a third pose of the on-board sensor in an observation coordinate system of an observation target and obtaining a fourth pose of the target roadside sensor in the observation coordinate system comprises:
acquiring a third posture sequence of the vehicle-mounted sensor under an observation coordinate system of an observation target;
determining a third pose according to the average value of each pose in the third pose sequence;
acquiring a fourth pose sequence of the target roadside sensor under the observation coordinate system;
and determining a fourth pose according to the average value of each pose in the fourth pose sequence.
5. The roadside sensor calibration method as set forth in claim 1, further comprising, before the step of acquiring the first pose of the vehicle in a preset map:
determining the setting position of an observation target according to the observation range of the target roadside sensor;
and determining the parking position of the vehicle according to the set position.
6. The roadside sensor calibration method as claimed in claim 5, wherein the step of determining the setting position of the observation target according to the observation range of the target roadside sensor comprises:
acquiring observation ranges of at least two target roadside sensors;
determining observation coincidence ranges of the at least two target roadside sensors according to at least two observation ranges;
and determining the setting position of the observation target according to the observation coincidence range.
7. The roadside sensor calibration method as claimed in claim 1, further comprising, after the step of determining the target pose of the target roadside sensor in the preset map:
comparing the target pose with a preset pose;
and adjusting the actual pose of the target roadside sensor according to the comparison result.
8. The roadside sensor calibration method as claimed in claim 1, further comprising, after the step of determining the target pose of the target roadside sensor in the preset map:
respectively acquiring target poses of different target roadside sensors in the preset map;
and determining a second position and posture transformation relation among the roadside sensors of different targets according to the position and posture of each target.
9. A roadside sensor calibration device is applicable to a vehicle-road coordination system, the vehicle-road coordination system comprises at least one roadside sensor arranged on a target lane, a vehicle driving along the target lane, an on-board sensor, an observation target and a server, the roadside sensor calibration device is arranged in the server, and the roadside sensor calibration device comprises:
the first acquisition module is used for acquiring a first pose of the vehicle in a preset map and acquiring a first pose transformation relation between the vehicle and the vehicle-mounted sensor;
the first determination module is used for determining a second pose of the vehicle-mounted sensor in the preset map according to the first pose and the first pose transformation relation;
the second acquisition module is used for acquiring a third pose of the vehicle-mounted sensor under an observation coordinate system of an observation target and acquiring a fourth pose of the target roadside sensor under the observation coordinate system;
and the second determination module is used for determining the target pose of the target roadside sensor in the preset map according to the second pose, the third pose and the fourth pose.
10. An electronic device comprising a memory and a processor; the memory stores an application program, and the processor is used for running the application program in the memory to execute the operation in the roadside sensor calibration method as claimed in any one of claims 1 to 8.
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