CN113838143A - Method and device for determining calibration external parameter, engineering vehicle and readable storage medium - Google Patents
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Abstract
The invention provides a method and a device for determining a calibrated external parameter, an engineering vehicle and a readable storage medium. The calibration external reference determination method comprises the following steps: acquiring first acquisition data of a vehicle-mounted radar and second acquisition data of an inertia measurement device; determining initial external parameters according to the first collected data, the second collected data and a hand-eye calibration method; carrying out distortion removal processing on the first acquired data through the initial external parameters and the second acquired data to obtain correction data; determining an iteration external parameter according to the initial external parameter, the correction data and the second acquisition data; determining a calibration external parameter according to the iteration external parameter based on the iteration external parameter meeting the preset condition; and replacing the initial external parameters with the iterative external parameters based on the fact that the iterative external parameters do not meet the preset conditions. And further, the determination method for optimizing the calibration external parameter is realized, the updating accuracy of the calibration external parameter is improved, the safety and the reliability of the automatic driving of the vehicle are improved, and the hardware cost of the automatic driving of the vehicle is reduced.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method and a device for determining a calibrated external parameter, an engineering vehicle and a readable storage medium.
Background
In the current unmanned driving system, a laser radar and an inertia measurement unit are used as common sensors and are commonly used for realizing functional requirements of autonomous positioning, planning, decision making, control and the like of a vehicle in multi-sensor fusion. The external reference calibration of the sensor is a basic module of the multi-sensor fusion system.
In the related art, external reference calibration of the sensor includes a tool measurement method and a hand-eye calibration method. The tool measuring method is low in efficiency, large in measuring error exists, original positions are changed due to road jolt, collision and the like when a vehicle moves in a driving mode, existing manual calibration parameters are invalid, manual calibration needs to be carried out again when the vehicle stops, the efficiency is low, and the tool measuring method cannot be applied to a real unmanned system. When external reference calibration is carried out only by a hand-eye calibration method, the track of each sensor is required to be independently and accurately measured, the requirement on the precision of an inertia measurement unit is high, and the common commercial and consumption-level inertia measurement unit is difficult to realize.
Therefore, how to design a method for determining a calibration external parameter that can overcome the above technical defects has become a technical problem to be solved.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art.
To this end, the invention proposes, in a first aspect, a method for determining a calibration external parameter.
The invention provides a device for determining a calibration external parameter in a second aspect.
The invention provides an engineering vehicle in a third aspect.
The invention provides an engineering vehicle in a fourth aspect.
A fifth aspect of the invention provides a readable storage medium.
In view of this, the first aspect of the present invention provides a calibration external reference determining method, including: acquiring first acquisition data of a vehicle-mounted radar and second acquisition data of an inertia measurement device; determining initial external parameters according to the first collected data, the second collected data and a hand-eye calibration method; carrying out distortion removal processing on the first acquired data through the initial external parameters and the second acquired data to obtain correction data; determining an iteration external parameter according to the initial external parameter, the correction data and the second acquisition data; determining a calibration external parameter according to the iteration external parameter based on the iteration external parameter meeting the preset condition; and replacing the initial external parameters with the iterative external parameters based on the fact that the iterative external parameters do not meet the preset conditions.
The method for determining the calibration external parameter is applied to a vehicle, and the vehicle comprises a vehicle body, a vehicle-mounted radar and an inertia measuring device, wherein the vehicle body is a main body structure of the vehicle, and the vehicle-mounted radar and the inertia measuring device are arranged on the vehicle body. The vehicle-mounted radar comprises a laser radar or a millimeter wave radar and is used for measuring the direction and the distance of an obstacle in the vehicle traveling process so as to assist the automatic driving function of the vehicle. The inertial measurement unit consists of an accelerometer and a gyroscope and is used for measuring the acceleration and the angular velocity of the vehicle body to determine the attitude of the vehicle body.
On the basis, the method for determining the calibration external parameter comprises the following steps: the method comprises the steps of firstly, driving a vehicle to advance in an application scene to be measured, simultaneously acquiring first acquisition data acquired by a vehicle-mounted radar, and acquiring second acquisition data acquired by an inertia measurement device. The first collected data and the second collected data are obtained in real time in the driving process, the application scene is not limited to a fixed calibration scene, and the natural road environment can also be suitable. And secondly, determining initial external parameters of the vehicle-mounted radar and the inertia measuring device by a hand-eye calibration method on the basis of the acquired first acquisition data and the acquired second acquisition data. Specifically, at least two frames of first acquisition data and second acquisition data acquired in corresponding time periods are selected for determining the initial external parameters, and then the initial external parameters are determined by solving an over-determined equation. The initial external parameter reflects the relative position relation between the measurement coordinate system of the vehicle-mounted radar on the vehicle and the coordinate system of the inertial measurement unit, and is specifically represented by a rotation-translation transformation matrix. And thirdly, on the basis of the initial external parameter, performing prediction compensation processing on subsequently acquired first acquired data through subsequently acquired second acquired data so as to eliminate rotational distortion existing in the first acquired data and remove motion distortion so as to obtain correction data close to an actual state. The vehicle-mounted radar acquires data intermittently, so that the problems of data lag and rotational distortion exist in first acquired data comprising multi-frame data, and the distortion removal processing is to solve the problems of the lag and the distortion. And fourthly, establishing a nonlinear optimization problem by combining the corrected data after distortion removal, the second acquired data and the initial external parameter, and solving the nonlinear optimization problem to obtain the optimized iterative external parameter. And fifthly, verifying the iteration external parameter, and taking the iteration external parameter as a calibration external parameter under the condition of meeting a preset condition so as to finish updating of the initial external parameter and reflect the position relation between the new vehicle-mounted radar and the inertia measurement device through the calibration external parameter. Otherwise, under the condition that the iteration external parameters do not meet the preset conditions, replacing the initial external parameters with the iteration external parameters and re-executing the motion compensation step and the verification step until the iteration external parameters meet the verification conditions.
In this regard, the present application provides the vehicle with the capability of automatically updating the calibrated external parameter by defining the determination method of the calibrated external parameter. Specifically, after the initial external parameters are determined through the initial acquisition data, the processor can update the relative position between the vehicle-mounted radar and the inertia measuring device in real time according to the subsequently acquired first acquisition data and second acquisition data so as to eliminate the measurement error of the vehicle-mounted radar caused by road jolt, collision and other reasons. The updating process does not need manual intervention, and the technical problems that frequent stopping and manual measurement are needed, the working efficiency is influenced, and the measurement precision is unreliable in a method for calibrating the external reference tool in the related technology are solved. Meanwhile, in the method, the updating process of the initial external parameter does not need to use a hand-eye calibration method any more, compared with the technical scheme that the real-time external parameter is determined by the hand-eye calibration method in the whole process, the requirement on the measuring capability and the measuring precision of the inertia measuring unit is lower, so that the vehicle can be provided with a common commercial inertia measuring unit with lower purchase price, the application range of the product is expanded on the basis of not influencing the updating precision of the external parameter, and the production cost of the vehicle is reduced. And further, the determination method for optimizing the calibration external parameter is realized, the updating accuracy of the calibration external parameter is improved, the safety and the reliability of the automatic driving of the vehicle are improved, and the hardware cost of the automatic driving of the vehicle is reduced.
In addition, according to the method for determining the calibration external parameter, after the initial external parameter is determined, distortion removal processing is performed on the first acquired data acquired by the vehicle-mounted radar, and compared with the technical scheme that the external parameter is updated directly through acquired data in the related art, the inherent measurement error of the vehicle-mounted radar is eliminated, and the accuracy and the reliability of the updated calibration external parameter are further improved. To enhance the above technical effects.
In addition, the method for determining the calibration external parameter provided by the invention can also have the following additional technical characteristics:
in the above technical solution, the step of determining the iterative external parameter according to the initial external parameter, the correction data, and the second acquired data specifically includes: determining a distance residual error according to the correction data; and determining iterative external parameters according to the initial external parameters, the second acquired data and the distance residual errors.
In the technical scheme, the steps of determining the iterative external parameters through the initial external parameters, the correction data and the second acquisition data are explained. Specifically, the corresponding plane feature and edge feature are extracted from the key frame in the undistorted correction data. Thereafter, a nonlinear optimization problem is established in conjunction with the correction data, the second acquisition data, and the initial extrinsic parameters. The nonlinear optimization problem relates to a distance residual error of the vehicle-mounted radar, and the distance residual error comprises a point-surface distance residual error corresponding to the plane feature. Also included are point-line distance residuals corresponding to the edge features. And then solving the nonlinear optimization problem to obtain the compensated iteration external parameters. Compared with the technical scheme of updating the external parameters only through the change of the first acquired data, the technical scheme optimizes the initial external parameters by introducing the second acquired data and constructing a nonlinear optimization problem containing the plane feature distance residual error and the edge feature distance residual error, and improves the updating precision of the external parameters in all directions. The method is favorable for reducing the error between the calibration external parameter and the actual measurement coordinate of the laser radar. And further, the determination method for optimizing the calibration external parameter is realized, the calibration external parameter precision is improved, and the technical effects of the automatic driving safety and the automatic driving reliability are improved.
In any of the above technical solutions, the step of determining the distance residual according to the correction data includes: determining target frame data in the correction data; extracting characteristic information in target frame data, and determining a distance residual error according to the characteristic information; wherein the distance residuals include a point-line distance residual and a point-plane distance residual.
In the technical scheme, the vehicle-mounted radar acquires data frame by frame, and correspondingly, the first acquired data and the correction data obtained by distortion removal all comprise a plurality of frame data. On the basis, the technical scheme is adopted, and the steps of determining the distance residual error according to the correction data are explained. Specifically, frame data corresponding to a bump or collision event to a sudden change in frame data is determined as target frame data among a plurality of frame data included in the correction data according to the data change trend in the correction data. After extraction of the target frame data is completed, extracting characteristic information from the target frame data, wherein the characteristic information comprises plane characteristics and edge characteristics, so that the processor can determine point-line distance residual errors and point-plane distance residual errors corresponding to the position change trend of the vehicle-mounted radar by establishing a nonlinear optimization problem and substituting the characteristic information. Compared with the technical scheme that the position change information of the vehicle-mounted radar is determined by analyzing the first collected data frame by frame, the technical scheme realizes the key frame extraction of the correction data, so that the processor can abandon the frame data with poor updating reference on the basis of meeting the external parameter updating requirement. Therefore, the technical problems of long time consumption for updating external parameters, heavy information processing burden and high requirement on processor hardware in the related technology are solved. And further, the determination method for optimizing the calibration external parameter is realized, the determination efficiency of the calibration external parameter is improved, and the product type selection cost is reduced.
In any of the above technical solutions, the step of determining the target frame data in the correction data specifically includes: determining the variation between each frame data except the initial frame data and the previous frame data; and taking the frame data with the variation larger than or equal to the first threshold value as target frame data.
In this embodiment, following the above-mentioned embodiment, a description is given of how to extract target frame data from correction data. Specifically, the correction data includes a plurality of frame data, the plurality of frame data are sequentially ordered according to the acquired time node, and the extracted target frame data is the mutation frame data with strong calculation reference determined from the plurality of sequentially arranged frame data. In this regard, the amount of change between each frame data and the previous frame data is determined, except for the initial frame data, and if the amount of change between two frames is large, the vehicle may be accelerated, decelerated, steered with a large amplitude, bumpy, or collided. And then, taking the frame data as target frame data to determine the distance residual error for compensating the initial external parameters through the target frame data. Specifically, if the variation of a certain frame of data is greater than or equal to the first threshold, it is verified that the vehicle state has changed significantly, and the frame of data may be used as the updated target data. By limiting the steps, the processor has the capability of automatically extracting mutation data from the data collected by the vehicle-mounted radar, so that the technical problem that the data needs to be analyzed and processed frame by frame in the related technology for updating the external parameters is solved. And then realize promoting the definite efficiency of demarcation external reference, promote the promptness and the reliability of external reference renewal, promote the technical effect of vehicle autopilot practicality and security.
In any of the above technical solutions, the iterative external reference includes a reference coordinate system of the inertial measurement unit, the reference coordinate system includes a measurement trajectory, and after the step of determining the iterative external reference according to the initial external reference, the correction data, and the second acquisition data, the method for determining the calibration external reference further includes: the correction data is brought into a reference coordinate system to obtain a projection track; calculating a trajectory error value between the projected trajectory and the measured trajectory; the preset conditions are as follows: the trajectory error value is less than a second threshold.
In the technical scheme, the iterative external reference comprises a reference coordinate system of the inertial measurement unit, and the track reflected by the second measurement data in the iterative coordinate system is the measurement track of the inertial measurement unit. On this basis, after the step of determining the iterative external parameter from the initial external parameter, the correction data and the second acquisition data. The correction data is brought into the reference coordinate system to project a projection track corresponding to the correction data in the reference coordinate system. Thereafter, an absolute trajectory error value between the projected trajectory and the measured trajectory is calculated to determine an error between the projected trajectory and the measured trajectory. And after the track error value is determined, comparing the size relation between the track error value and a second threshold value, if the track error value is smaller than the second threshold value, proving that the iteration external parameter meets the preset condition, and then taking the iteration external parameter as the updated calibration external parameter. On the contrary, if the track error value is larger than or equal to the second threshold value, the error between the actual external parameters of the iteration is proved to be larger and does not meet the preset condition, and then the initial external parameters are replaced by the external parameters of the iteration and a new iteration is carried out until the preset condition is met. By limiting the step, the iteration updating of the calibration external parameter is realized, and compared with the technical scheme of directly obtaining the calibration external parameter through single calculation, the technical scheme reduces the error between the calibration external parameter and the actual coordinate system. And further, the determination method for optimizing the calibration external parameter is realized, the accuracy of the calibration external parameter is improved, and the technical effects of the safety and the reliability of the automatic driving of the vehicle are improved.
In any of the above technical solutions, the step of performing distortion removal processing on the first acquired data by using the initial external reference and the second acquired data to obtain the correction data specifically includes: under the initial external reference, determining prediction compensation information corresponding to the vehicle-mounted radar according to the second acquired data; and carrying out interpolation processing on the first acquired data according to the prediction compensation information to obtain correction data.
In this technical solution, a description is given of a step of performing distortion removal processing on first acquired data by using initial external reference and second acquired data to obtain correction data. Specifically, under initial external parameters, the second acquisition data is used to provide a rotational prediction for scan registration of the vehicle radar to obtain corresponding prediction compensation information. And then, compensating the prediction compensation information into the first acquired data through difference processing, thereby eliminating rotation distortion in the first acquired data, and removing motion distortion in the first acquired data to obtain correction data capable of accurately calculating the calibration external parameters. The technical scheme solves the technical problem that the motion distortion of the data collected by the vehicle-mounted radar in the related technology damages the accuracy of the calibrated external parameter, further realizes the technical effects of optimizing the determination method of the calibrated external parameter, improving the reference value of the calibrated external parameter and improving the safety and reliability of the automatic driving of the vehicle.
The second aspect of the present invention provides a calibration external parameter determination device, including: the acquisition unit is used for acquiring first acquisition data of the vehicle-mounted radar and second acquisition data of the inertia measurement device; the determining unit is used for determining initial external parameters according to the first acquisition data and a hand-eye calibration method; the correction unit is used for carrying out distortion removal processing on the first acquired data through the initial external parameters and the second acquired data to obtain correction data; the determining unit is further used for determining iteration external parameters according to the initial external parameters, the correction data and the second acquisition data; determining a calibration external parameter according to the iteration external parameter based on the iteration external parameter meeting the preset condition; and replacing the initial external parameters with the iterative external parameters based on the fact that the iterative external parameters do not meet the preset conditions.
In the technical scheme, the calibration external reference determination device comprises an acquisition unit, a determination unit and a correction unit. Specifically, when the vehicle travels in the application scene to be measured, the acquisition unit is used for acquiring first acquisition data acquired by the vehicle-mounted radar and acquiring second acquisition data acquired by the inertia measurement device. The first collected data and the second collected data are obtained in real time in the driving process, the application scene is not limited to a fixed calibration scene, and the natural road environment can also be suitable. The determining unit is used for determining initial external parameters of the vehicle-mounted radar and the inertia measuring device through a hand-eye calibration method on the basis of the acquired first acquired data and the acquired second acquired data. Specifically, at least two frames of first acquisition data and second acquisition data acquired in corresponding time periods are selected for determining the initial external parameters, and then the initial external parameters are determined by solving an over-determined equation. The initial external parameter reflects the relative position relation between the measurement coordinate system of the vehicle-mounted radar on the vehicle and the coordinate system of the inertial measurement unit, and is specifically represented by a rotation-translation transformation matrix. The correction unit is used for carrying out prediction compensation processing on subsequently acquired first acquired data through subsequently acquired second acquired data on the basis of the initial external parameter so as to eliminate rotational distortion existing in the first acquired data and remove motion distortion to obtain correction data close to an actual state. The vehicle-mounted radar acquires data intermittently, so that the problems of data lag and rotational distortion exist in first acquired data comprising multi-frame data, and the distortion removal processing is to solve the problems of the lag and the distortion. The determining unit is further used for establishing a nonlinear optimization problem by combining the corrected data after the distortion removal, the second acquired data and the initial external parameter, and solving the nonlinear optimization problem to obtain the optimized iterative external parameter. The determining unit is further used for verifying the iteration external parameter, and under the condition that a preset condition is met, the iteration external parameter is used as a calibration external parameter, so that updating of the initial external parameter is completed, and the position relation between the new vehicle-mounted radar and the inertial measurement unit is reflected through the calibration external parameter. Otherwise, under the condition that the iteration external parameters do not meet the preset conditions, replacing the initial external parameters with the iteration external parameters and re-executing the motion compensation step and the verification step until the iteration external parameters meet the verification conditions.
In this regard, the present application provides the vehicle with the capability of automatically updating the calibration external parameter by defining the determination device for the calibration external parameter. Specifically, after the initial external parameters are determined through the initial acquisition data, the processor can update the relative position between the vehicle-mounted radar and the inertia measuring device in real time according to the subsequently acquired first acquisition data and second acquisition data so as to eliminate the measurement error of the vehicle-mounted radar caused by road jolt, collision and other reasons. The updating process does not need manual intervention, and the technical problems that frequent stopping and manual measurement are needed, the working efficiency is influenced, and the measurement precision is unreliable in a method for calibrating the external reference tool in the related technology are solved. Meanwhile, in the method, the updating process of the initial external parameter does not need to use a hand-eye calibration method any more, compared with the technical scheme that the real-time external parameter is determined by the hand-eye calibration method in the whole process, the requirement on the measuring capability and the measuring precision of the inertia measuring unit is lower, so that the vehicle can be provided with a common commercial inertia measuring unit with lower purchase price, the application range of the product is expanded on the basis of not influencing the updating precision of the external parameter, and the production cost of the vehicle is reduced. And then realize optimizing the definite device of maring external parameter, promote and mark external parameter renewal accuracy, promote vehicle autopilot security and reliability, reduce the technical effect of vehicle autopilot hardware cost.
In addition, the calibration external parameter determining device defined by the application performs distortion removal processing on first acquired data acquired by the vehicle-mounted radar after determining the initial external parameter, and compared with the technical scheme that the external parameter is directly updated through acquired data in the related art, the inherent measurement error of the vehicle-mounted radar is eliminated by the step, and the accuracy and the reliability of the updated calibration external parameter are further improved. To enhance the above technical effects.
A third aspect of the invention provides an engineering vehicle comprising: the device for determining the calibration external parameter in the technical scheme is disclosed.
In the technical scheme, the engineering vehicle is limited. The engineering vehicle has the advantages of the calibration external parameter determining device in the technical scheme, and the technical effects which can be realized by the calibration external parameter determining device in the technical scheme can be realized. To avoid repetition, further description is omitted here.
A fourth aspect of the invention provides an engineering vehicle comprising a memory having a program or instructions stored thereon; and the processor is configured to implement the steps of the method for determining the calibration external parameter in any one of the above technical solutions when executing the program or the instructions.
In the technical scheme, the engineering vehicle is limited. The engineering vehicle is provided with a memory and a processor, the memory is used for storing programs or instructions, and the processor is used for calling and executing the instructions stored in the memory so as to realize the steps of the method for determining the calibration external parameters in any technical scheme. Therefore, the engineering vehicle has the advantages of the method for determining the calibration external parameter in any one of the technical schemes, and can achieve the technical effects which can be achieved by the method for determining the calibration external parameter in any one of the technical schemes. To avoid repetition, further description is omitted here.
A fifth aspect of the present invention provides a readable storage medium, on which a program or instructions are stored, and the program or instructions, when executed by a processor, implement the steps of the method for determining a calibration external parameter in any one of the above-mentioned aspects.
In this embodiment, a readable storage medium is provided, and a program or an instruction stored on the readable storage medium, when being called and executed by a processor, may implement the method for determining the calibration external parameter in any of the above embodiments. Therefore, the readable storage medium has the advantages of the method for determining the calibration external parameter in any one of the above technical solutions, and can achieve the technical effects that can be achieved by the method for determining the calibration external parameter in any one of the above technical solutions. To avoid repetition, further description is omitted here.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 illustrates one of the flow diagrams of a method of determining a calibration external reference according to one embodiment of the present invention;
FIG. 2 illustrates a second flowchart of a method of determining a calibration external reference according to an embodiment of the present invention;
FIG. 3 illustrates a third flowchart of a method of determining a calibration external parameter according to an embodiment of the present invention;
FIG. 4 illustrates a fourth flowchart of a method of determining a calibration external reference according to an embodiment of the invention;
FIG. 5 illustrates a fifth flowchart of a method of determining a calibration external parameter, according to an embodiment of the invention;
FIG. 6 shows a sixth schematic flow chart of a method of determining a calibration external parameter according to an embodiment of the invention;
FIG. 7 illustrates a seventh schematic flow chart of a method of determining a calibration external parameter according to an embodiment of the present invention;
FIG. 8 is a block diagram illustrating an exemplary apparatus for determining calibration external parameters, according to an embodiment of the present invention;
fig. 9 shows a block diagram of a construction vehicle according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Methods and apparatus for determining a calibrated external reference, a work vehicle, and a readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1-9.
Example one
As shown in fig. 1, an embodiment of a first aspect of the present invention provides a calibration external reference determining method, where the calibration external reference determining method includes:
102, acquiring first acquisition data of a vehicle-mounted radar and second acquisition data of an inertia measurement device;
104, determining initial external parameters according to the first collected data, the second collected data and a hand-eye calibration method;
106, carrying out distortion removal processing on the first acquired data through the initial external parameters and the second acquired data to obtain correction data;
and step 114, replacing the initial external parameters with the iterative external parameters.
The method for determining the calibration external parameter is applied to a vehicle, and the vehicle comprises a vehicle body, a vehicle-mounted radar and an inertia measuring device, wherein the vehicle body is a main body structure of the vehicle, and the vehicle-mounted radar and the inertia measuring device are arranged on the vehicle body. The vehicle-mounted radar comprises a laser radar or a millimeter wave radar and is used for measuring the direction and the distance of an obstacle in the vehicle traveling process so as to assist the automatic driving function of the vehicle. The inertial measurement unit consists of an accelerometer and a gyroscope and is used for measuring the acceleration and the angular velocity of the vehicle body to determine the attitude of the vehicle body.
On the basis, the method for determining the calibration external parameter comprises the following steps: the method comprises the steps of firstly, driving a vehicle to advance in an application scene to be measured, simultaneously acquiring first acquisition data acquired by a vehicle-mounted radar, and acquiring second acquisition data acquired by an inertia measurement device. The first collected data and the second collected data are obtained in real time in the driving process, the application scene is not limited to a fixed calibration scene, and the natural road environment can also be suitable. And secondly, determining initial external parameters of the vehicle-mounted radar and the inertia measuring device by a hand-eye calibration method on the basis of the acquired first acquisition data and the acquired second acquisition data. Specifically, at least two frames of first acquisition data and second acquisition data acquired in corresponding time periods are selected for determining the initial external parameters, and then the initial external parameters are determined by solving an over-determined equation. The initial external parameter reflects the relative position relation between the measurement coordinate system of the vehicle-mounted radar on the vehicle and the coordinate system of the inertial measurement unit, and is specifically represented by a rotation-translation transformation matrix. And thirdly, on the basis of the initial external parameter, performing prediction compensation processing on subsequently acquired first acquired data through subsequently acquired second acquired data so as to eliminate rotational distortion existing in the first acquired data and remove motion distortion so as to obtain correction data close to an actual state. The vehicle-mounted radar acquires data intermittently, so that the problems of data lag and rotational distortion exist in first acquired data comprising multi-frame data, and the distortion removal processing is to solve the problems of the lag and the distortion. And fourthly, establishing a nonlinear optimization problem by combining the corrected data after distortion removal, the second acquired data and the initial external parameter, and solving the nonlinear optimization problem to obtain the optimized iterative external parameter. And fifthly, verifying the iteration external parameter, and taking the iteration external parameter as a calibration external parameter under the condition of meeting a preset condition so as to finish updating of the initial external parameter and reflect the position relation between the new vehicle-mounted radar and the inertia measurement device through the calibration external parameter. Otherwise, under the condition that the iteration external parameters do not meet the preset conditions, replacing the initial external parameters with the iteration external parameters and re-executing the motion compensation step and the verification step until the iteration external parameters meet the verification conditions.
In this regard, the present application provides the vehicle with the capability of automatically updating the calibrated external parameter by defining the determination method of the calibrated external parameter. Specifically, after the initial external parameters are determined through the initial acquisition data, the processor can update the relative position between the vehicle-mounted radar and the inertia measuring device in real time according to the subsequently acquired first acquisition data and second acquisition data so as to eliminate the measurement error of the vehicle-mounted radar caused by road jolt, collision and other reasons. The updating process does not need manual intervention, and the technical problems that frequent stopping and manual measurement are needed, the working efficiency is influenced, and the measurement precision is unreliable in a method for calibrating the external reference tool in the related technology are solved. Meanwhile, in the method, the updating process of the initial external parameters does not need to use a hand-eye calibration method any more, compared with the embodiment that real-time external parameters are determined by the hand-eye calibration method in the whole process, the requirement on the measuring capability and the measuring precision of the inertia measuring unit is lower, so that the vehicle can be provided with a common commercial inertia measuring unit with lower purchase price, the application range of products is expanded on the basis of not influencing the updating precision of the external parameters, and the production cost of the vehicle is reduced. And further, the determination method for optimizing the calibration external parameter is realized, the updating accuracy of the calibration external parameter is improved, the safety and the reliability of the automatic driving of the vehicle are improved, and the hardware cost of the automatic driving of the vehicle is reduced.
In addition, according to the method for determining the calibration external parameter, after the initial external parameter is determined, distortion removal processing is performed on the first acquired data acquired by the vehicle-mounted radar, compared with an embodiment in the related art that the external parameter is directly updated through acquired data, inherent measurement errors of the vehicle-mounted radar are eliminated, and the accuracy and reliability of the updated calibration external parameter are further improved. To enhance the above technical effects.
Example two
As shown in fig. 2, in the second embodiment of the present invention, the step of determining the iterative extrinsic parameter according to the initial extrinsic parameter, the correction data and the second acquired data specifically includes:
and step 204, determining iterative external parameters according to the initial external parameters, the second acquired data and the distance residual errors.
In this embodiment, a description is made of how the step of iterative external reference is determined by the initial external reference, the corrected external reference, and the second acquired data. Specifically, the corresponding plane feature and edge feature are extracted from the key frame in the undistorted correction data. Thereafter, a nonlinear optimization problem is established in conjunction with the correction data, the second acquisition data, and the initial extrinsic parameters. The nonlinear optimization problem relates to a distance residual error of the vehicle-mounted radar, and the distance residual error comprises a point-surface distance residual error corresponding to the plane feature. Also included are point-line distance residuals corresponding to the edge features. And then solving the nonlinear optimization problem to obtain the compensated iteration external parameters. Compared with the embodiment of updating the external parameters only through the change of the first acquired data, the embodiment optimizes the initial external parameters by introducing the second acquired data and constructing the nonlinear optimization problem comprising the plane feature distance residual error and the edge feature distance residual error, and improves the updating precision of the external parameters in all directions. The method is favorable for reducing the error between the calibration external parameter and the actual measurement coordinate of the laser radar. And further, the determination method for optimizing the calibration external parameter is realized, the calibration external parameter precision is improved, and the technical effects of the automatic driving safety and the automatic driving reliability are improved.
EXAMPLE III
As shown in fig. 3, in an embodiment of the third aspect of the present invention, the step of determining the distance residual according to the correction data includes:
wherein the distance residuals include a point-line distance residual and a point-plane distance residual.
In this embodiment, the vehicle-mounted radar collects data frame by frame, and correspondingly, the first collected data and the correction data obtained by distortion removal each include a plurality of frame data. On this basis, with the above embodiments, a description is given of how to correct the data and determine the distance residual. Specifically, frame data corresponding to a bump or collision event to a sudden change in frame data is determined as target frame data among a plurality of frame data included in the correction data according to the data change trend in the correction data. After extraction of the target frame data is completed, extracting characteristic information from the target frame data, wherein the characteristic information comprises plane characteristics and edge characteristics, so that the processor can determine point-line distance residual errors and point-plane distance residual errors corresponding to the position change trend of the vehicle-mounted radar by establishing a nonlinear optimization problem and substituting the characteristic information. Compared with the embodiment of determining the position change information of the vehicle-mounted radar by analyzing the first collected data frame by frame, the embodiment realizes the key frame extraction of the correction data, so that the processor can abandon the frame data with poor updating reference on the basis of meeting the external parameter updating requirement. Therefore, the technical problems of long time consumption for updating external parameters, heavy information processing burden and high requirement on processor hardware in the related technology are solved. And further, the determination method for optimizing the calibration external parameter is realized, the determination efficiency of the calibration external parameter is improved, and the product type selection cost is reduced.
Example four
As shown in fig. 4, in the fourth embodiment of the present invention, the step of determining the target frame data in the correction data specifically includes:
in step 404, frame data having a variation equal to or larger than the first threshold is set as target frame data.
In this embodiment, following the previous embodiment, a description is made of how to extract target frame data in correction data. Specifically, the correction data includes a plurality of frame data, the plurality of frame data are sequentially sorted according to the acquired time node, and the extracted target frame data is one of the plurality of frame data sequentially arranged to specify representative mutation frame data. In this regard, the amount of change between each frame data and the previous frame data is determined, except for the initial frame data, and if the amount of change between two frames is large, the vehicle may be accelerated, decelerated, steered with a large amplitude, bumpy, or collided. And then, taking the frame data as target frame data to determine the distance residual error for compensating the initial external parameters through the target frame data. Specifically, if the variation of a certain frame of data is greater than or equal to the first threshold, it is verified that the vehicle state has changed significantly, and the correction data corresponding to the data segment may be used as the target data for updating. By limiting the steps, the processor has the capability of automatically extracting mutation data from the data collected by the vehicle-mounted radar, so that the technical problem that the data needs to be analyzed and processed frame by frame in the related technology for updating the external parameters is solved. And then realize promoting the definite efficiency of demarcation external reference, promote the promptness and the reliability of external reference renewal, promote the technical effect of vehicle autopilot practicality and security.
EXAMPLE five
In a fifth embodiment of the present invention, as shown in fig. 5, the iterative external reference comprises a reference coordinate system of the inertial measurement unit, the reference coordinate system comprises a measurement trajectory, and the method for determining the calibrated external reference further comprises, after the step of determining the iterative external reference based on the initial external reference, the calibration data and the second acquired data:
the preset conditions are as follows: the trajectory error value is less than a second threshold.
In this embodiment, the iterative external reference comprises a reference coordinate system of the inertial measurement unit, and the trajectory reflected by the second measurement data in the iterative coordinate system is the measurement trajectory of the inertial measurement unit. On this basis, after the step of determining the iterative external parameter from the initial external parameter, the correction data and the second acquisition data. The correction data is brought into the reference coordinate system to project a projection track corresponding to the correction data in the reference coordinate system. Thereafter, an absolute trajectory error value between the projected trajectory and the measured trajectory is calculated to determine an error between the projected trajectory and the measured trajectory. And after the track error value is determined, comparing the size relation between the track error value and a second threshold value, if the track error value is smaller than the second threshold value, proving that the iteration external parameter meets the preset condition, and then taking the iteration external parameter as the updated calibration external parameter. On the contrary, if the track error value is larger than or equal to the second threshold value, the error between the actual external parameters of the iteration is proved to be larger and does not meet the preset condition, and then the initial external parameters are replaced by the external parameters of the iteration and a new iteration is carried out until the preset condition is met. By defining this step, an iterative update of the calibration external parameters is achieved, which reduces the error between the calibration external parameters and the actual coordinate system compared to an embodiment in which the calibration external parameters are directly derived by a single calculation. And further, the determination method for optimizing the calibration external parameter is realized, the accuracy of the calibration external parameter is improved, and the technical effects of the safety and the reliability of the automatic driving of the vehicle are improved.
EXAMPLE six
As shown in fig. 6, in an embodiment of the sixth aspect of the present invention, the step of performing distortion removal processing on the first acquired data by using the initial external reference and the second acquired data to obtain the correction data specifically includes:
and step 604, performing interpolation processing on the first acquired data according to the prediction compensation information to obtain correction data.
In this embodiment, the description is made of the step of performing the distortion removal processing on the first acquired data by the initial external reference and the second acquired data to obtain the correction data. Specifically, under initial external parameters, the second acquisition data is used to provide a rotational prediction for scan registration of the vehicle radar to obtain corresponding prediction compensation information. And then, compensating the prediction compensation information into the first acquired data through difference processing, thereby eliminating rotation distortion in the first acquired data, and removing motion distortion in the first acquired data to obtain correction data capable of accurately calculating the calibration external parameters. The embodiment solves the technical problem that the motion distortion of the data collected by the vehicle-mounted radar destroys the accuracy of the calibrated external parameter in the related technology, further realizes the technical effects of optimizing the determination method of the calibrated external parameter, improving the reference value of the calibrated external parameter and improving the safety and reliability of automatic driving of the vehicle.
EXAMPLE seven
As shown in fig. 7, in an embodiment of the present invention, the method for determining the calibration external parameter includes:
step 708, extracting key frames from the first collected data, and extracting edge features and plane features from the key frames;
step 712, projecting the first collected data back to the reference coordinate system of the inertial measurement unit based on the iterative external parameters, and solving the absolute track error of the two tracks;
Example eight
As shown in fig. 8, an eighth aspect of the present invention provides a calibration external parameter determination apparatus 800, where the calibration external parameter determination apparatus 800 includes:
an obtaining unit 802, configured to obtain first collected data of a vehicle-mounted radar and second collected data of an inertial measurement unit;
a determining unit 804, configured to determine an initial external parameter according to the first collected data and a hand-eye calibration method;
a correcting unit 806, configured to perform distortion removal processing on the first acquired data through the initial external reference and the second acquired data to obtain corrected data;
the determining unit 804 is further configured to determine an iterative external parameter according to the initial external parameter, the correction data, and the second collected data; determining a calibration external parameter according to the iteration external parameter based on the iteration external parameter meeting the preset condition; and replacing the initial external parameters with the iterative external parameters based on the fact that the iterative external parameters do not meet the preset conditions.
In this embodiment, the apparatus 800 for determining calibration external parameters includes an obtaining unit 802, a determining unit 804, and a correcting unit 806. Specifically, when the vehicle travels in the application scene to be measured, the obtaining unit 802 is configured to obtain first collected data collected by the vehicle-mounted radar and second collected data collected by the inertial measurement unit. The first collected data and the second collected data are obtained in real time in the driving process, the application scene is not limited to a fixed calibration scene, and the natural road environment can also be suitable. The determining unit 804 is configured to determine initial external parameters of the vehicle-mounted radar and the inertial measurement unit by a hand-eye calibration method on the basis of the acquired first acquired data and the acquired second acquired data. Specifically, at least two frames of first acquisition data and second acquisition data acquired in corresponding time periods are selected for determining the initial external parameters, and then the initial external parameters are determined by solving an over-determined equation. The initial external parameter reflects the relative position relation between the measurement coordinate system of the vehicle-mounted radar on the vehicle and the coordinate system of the inertial measurement unit, and is specifically represented by a rotation-translation transformation matrix. The correction unit 806 is configured to perform prediction compensation processing on subsequently acquired first acquired data through subsequently acquired second acquired data on the basis of the initial external parameter, so as to eliminate rotational distortion existing in the first acquired data, and remove motion distortion, so as to obtain correction data close to an actual state. The vehicle-mounted radar acquires data intermittently, so that the problems of data lag and rotational distortion exist in first acquired data comprising multi-frame data, and the distortion removal processing is to solve the problems of the lag and the distortion. The determining unit 804 is further configured to establish a nonlinear optimization problem by combining the deskewed data, the second acquired data, and the initial external parameter, and solve the nonlinear optimization problem to obtain an optimized iterative external parameter. The determining unit 804 is further configured to verify the iteration external parameter, and when a preset condition is met, use the iteration external parameter as a calibration external parameter, thereby completing updating of the initial external parameter, so as to reflect a position relationship between the new vehicle-mounted radar and the inertial measurement unit through the calibration external parameter. Otherwise, under the condition that the iteration external parameters do not meet the preset conditions, replacing the initial external parameters with the iteration external parameters and re-executing the motion compensation step and the verification step until the iteration external parameters meet the verification conditions.
In this regard, the present application provides the vehicle with the capability of automatically updating the calibration external parameter by defining the above-mentioned calibration external parameter determination apparatus 800. Specifically, after the initial external parameters are determined through the initial acquisition data, the processor can update the relative position between the vehicle-mounted radar and the inertia measuring device in real time according to the subsequently acquired first acquisition data and second acquisition data so as to eliminate the measurement error of the vehicle-mounted radar caused by road jolt, collision and other reasons. The updating process does not need manual intervention, and the technical problems that frequent stopping and manual measurement are needed, the working efficiency is influenced, and the measurement precision is unreliable in a method for calibrating the external reference tool in the related technology are solved. Meanwhile, in the method, the updating process of the initial external parameters does not need to use a hand-eye calibration method any more, compared with the embodiment that real-time external parameters are determined by the hand-eye calibration method in the whole process, the requirement on the measuring capability and the measuring precision of the inertia measuring unit is lower, so that the vehicle can be provided with a common commercial inertia measuring unit with lower purchase price, the application range of products is expanded on the basis of not influencing the updating precision of the external parameters, and the production cost of the vehicle is reduced. And then realize optimizing calibration external reference's determination device 800, promote calibration external reference and update the accuracy, promote vehicle autopilot security and reliability, reduce vehicle autopilot hardware cost's technical effect.
In addition, after the determination device 800 for calibrating the external parameter defined in the present application determines the initial external parameter, the distortion removal processing is performed on the first collected data collected by the vehicle-mounted radar, and compared with an embodiment in which the external parameter is directly updated through collected data in the related art, the step eliminates the inherent measurement error of the vehicle-mounted radar, and further improves the accuracy and reliability of the updated calibration external parameter. To enhance the above technical effects.
Example nine
An embodiment of a ninth aspect of the present invention provides an engineering vehicle, including: the device for determining the calibration external parameter as in the above embodiment.
In this embodiment, a working vehicle provided with the determination device of the calibration external reference in the above-described embodiment is defined. Therefore, the engineering vehicle has the advantages of the calibration external parameter determination device in the above embodiment, and the technical effects that can be achieved by the calibration external parameter determination device in the above embodiment can be achieved. To avoid repetition, further description is omitted here.
Example ten
As shown in fig. 9, a tenth aspect embodiment of the present invention provides a work vehicle 900, the work vehicle 900 including a memory 902 having a program or instructions stored thereon; the processor 904 is configured to execute the program or the instructions to implement the steps of the method for determining the calibration external parameters in any of the above embodiments.
In this embodiment, a work vehicle 900 is defined. The work vehicle 900 is provided with a memory 902 and a processor 904, the memory 902 is used for storing programs or instructions, and the processor 904 is used for calling and executing the instructions stored in the memory 902 to realize the steps of the method for determining the calibration external parameters in any of the above embodiments. Therefore, the engineering vehicle 900 has the advantages of the method for determining the calibration external parameter in any one of the embodiments, and can achieve the technical effects that can be achieved by the method for determining the calibration external parameter in any one of the embodiments. To avoid repetition, further description is omitted here.
EXAMPLE eleven
An eleventh embodiment of the present invention provides a readable storage medium, on which a program or instructions are stored, where the program or instructions, when executed by a processor, implement the steps of the method for determining a calibration external parameter in any of the above embodiments.
In this embodiment, a readable storage medium is provided, and a program or an instruction stored on the readable storage medium can implement the method for determining the external reference in any of the above embodiments when the program or the instruction is called and executed by a processor. Therefore, the readable storage medium has the advantages of the method for determining the calibration external parameter in any one of the above embodiments, and the technical effects that can be achieved by the method for determining the calibration external parameter in any one of the above embodiments can be achieved. To avoid repetition, further description is omitted here.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically defined, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the drawings, and are used only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for determining a calibrated external parameter, comprising:
acquiring first acquisition data of a vehicle-mounted radar and second acquisition data of an inertia measurement device;
determining initial external parameters according to the first collected data, the second collected data and a hand-eye calibration method;
carrying out distortion removal processing on the first acquired data through the initial external parameters and the second acquired data to obtain corrected data;
determining an iterative external parameter according to the initial external parameter, the correction data and second acquisition data;
determining a calibration external parameter according to the iteration external parameter based on the iteration external parameter meeting a preset condition;
and replacing the initial external parameters with the iteration external parameters on the basis that the iteration external parameters do not meet preset conditions.
2. The method for determining a calibrated external parameter according to claim 1, wherein the step of determining an iterative external parameter from the initial external parameter, the correction data and the second acquisition data specifically comprises:
determining a distance residual according to the correction data;
and determining the iterative external parameters according to the initial external parameters, the second acquisition data and the distance residual errors.
3. The method for determining calibration external parameters according to claim 2, wherein the calibration data comprises a plurality of frame data, and the step of determining distance residuals according to the calibration data specifically comprises:
determining target frame data in the correction data;
extracting characteristic information in the target frame data, and determining the distance residual according to the characteristic information;
wherein the distance residuals include a point-line distance residual and a point-plane distance residual.
4. The method for determining calibration external parameters according to claim 3, wherein the step of determining the target frame data in the correction information specifically comprises:
determining the variation between each frame data except the initial frame data and the previous frame data;
and taking the frame data with the variation larger than or equal to a first threshold value as the target frame data.
5. A method of determining a calibrated external reference according to claim 3, wherein said iterative external reference comprises a reference coordinate system of said inertial measurement unit, said reference coordinate system comprising a measurement trajectory, said method of determining an iterative external reference from said initial external reference, said correction data and a second acquisition data further comprising, after said step of determining an iterative external reference:
bringing the correction data into the reference coordinate system to obtain a projection track;
calculating a trajectory error value between the projected trajectory and the measured trajectory;
the preset conditions are as follows: the trajectory error value is less than a second threshold.
6. The method for determining a calibrated external parameter according to any one of claims 1 to 5, wherein the step of performing a de-distortion process on the first acquired data by using the initial external parameter and the second acquired data to obtain corrected data specifically comprises:
under the initial external reference, determining prediction compensation information corresponding to the vehicle-mounted radar according to the second acquired data;
and carrying out interpolation processing on the first acquired data according to the prediction compensation information to obtain the correction data.
7. A device for determining a calibrated external reference, comprising:
the acquisition unit is used for acquiring first acquisition data of the vehicle-mounted radar and second acquisition data of the inertia measurement device;
the determining unit is used for determining initial external parameters according to the first acquisition data and a hand-eye calibration method;
the correction unit is used for carrying out distortion removal processing on the first acquired data through the initial external parameters and the second acquired data to obtain correction data;
the determining unit is further used for determining iteration external parameters according to the initial external parameters, the correction data and second acquisition data; determining a calibration external parameter according to the iteration external parameter based on the iteration external parameter meeting a preset condition; and replacing the initial external parameters with the iteration external parameters on the basis that the iteration external parameters do not meet preset conditions.
8. A work vehicle, characterized by comprising:
a nominal external reference determination apparatus as claimed in claim 7.
9. A work vehicle, characterized by comprising:
a memory having a program or instructions stored thereon;
a processor configured to execute the program or instructions to carry out the steps of the method of determining a calibration external parameter of any one of claims 1 to 6.
10. A readable storage medium having stored thereon a program or instructions, which when executed by a processor, carries out the steps of the method of determining a calibration external parameter as claimed in any one of claims 1 to 6.
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