CN114332230A - Calibration method, calibration device and calibration system for automatic driving vehicle - Google Patents
Calibration method, calibration device and calibration system for automatic driving vehicle Download PDFInfo
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Abstract
The application provides a calibration method, a calibration device and a calibration system of an automatic driving vehicle, wherein the method comprises the following steps: firstly, acquiring actual target information of a target, wherein the target information comprises position information and attitude information of the target relative to a calibration turntable and ID (identity) information of the target; then, after the calibration turntable rotates to a preset position, the target vehicle is controlled to acquire image information and point cloud information of the target; and finally, calibrating the target vehicle according to the actual information, the image information and the point cloud information. After the calibration turntable is rotated to a preset position, the target vehicle on the calibration turntable is driven to rotate to the preset position, the target vehicle is controlled to acquire the image information and the point cloud information of the target, and then the target vehicle is calibrated according to the image information, the point cloud information and the actual target information of the target, so that the condition that manual participation is not needed in the calibration process is guaranteed, the calibration efficiency of the automatic driving vehicle is high, and meanwhile, the calibration labor cost is low.
Description
Technical Field
The present disclosure relates to the field of autonomous vehicles, and more particularly, to a calibration method for an autonomous vehicle, a calibration device thereof, a computer-readable storage medium, a processor, an electronic device, and a calibration system for an autonomous vehicle.
Background
With the development of the automatic driving technology, the functions of the vehicle-mounted sensor are also more powerful, and common sensors include a camera and a laser radar, wherein the camera is used for acquiring image information of objects around the vehicle, and the laser radar is used for acquiring point cloud information of the objects around the vehicle. Through the information fusion of laser radar and camera for the automatic driving vehicle can more accurately perceive surrounding environment, guarantees the safe travel of automatic driving vehicle.
In the prior art, calibration of cameras of automatic driving vehicles, laser radars and other sensors is generally manual calibration, and efficiency is low.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The present application mainly aims to provide a calibration method for an autonomous driving vehicle, a calibration device thereof, a computer-readable storage medium, a processor, an electronic device, and a calibration system for an autonomous driving vehicle, so as to solve the problem of low calibration efficiency of an autonomous driving vehicle in the prior art.
According to an aspect of the embodiments of the present invention, there is provided a calibration method for an autonomous vehicle, where a target vehicle is located on a calibration turntable, the calibration turntable is configured to drive the target vehicle to rotate to at least one predetermined position, a target is disposed on an outer circumference of the calibration turntable, and the target corresponds to the predetermined position, the method includes: acquiring actual information of the target, wherein the actual information is actual target information, the target information comprises position information, attitude information and ID information, the position information is position information of the target relative to the calibration turntable, and the attitude information is attitude information of the target relative to the calibration turntable; a control step of controlling the target vehicle to acquire image information and point cloud information of the target after the calibration turntable rotates to the predetermined position; and a calibration step, namely calibrating the target vehicle according to the actual information, the image information and the point cloud information.
Optionally, the calibrating step includes: determining parameter information of a sensor of the target vehicle according to the actual information, the image information and the point cloud information, wherein the parameter information comprises internal parameters and external parameters; and configuring the sensor according to the parameter information to obtain the calibrated target vehicle.
Optionally, configuring the sensor according to the parameter information to obtain the calibrated target vehicle, including: configuring the sensor according to the parameter information to obtain the configured target vehicle; determining a calibration error of the configured target vehicle; and determining that the calibration is successful under the condition that the calibration error is within a preset range.
Optionally, determining a calibration error of the target vehicle after configuration comprises: controlling the target vehicle after configuration to determine calculation information of the target, wherein the calculation information is the target information calculated by the target vehicle after configuration; and determining the calibration error according to the calculated information and the actual information.
Optionally, controlling the target vehicle after configuration to determine the calculation information of the target includes: after the calibration turntable rotates to the preset position, controlling the configured target vehicle to acquire current image information and current point cloud information, wherein the current image information is the image information of the target acquired by the configured target vehicle, and the current point cloud information is the point cloud information of the target acquired by the configured target vehicle; and determining the calculation information according to the current image information and the current point cloud information by the target vehicle after control and configuration.
Optionally, in a case that the calibration error is not within the predetermined range, the method further includes: and sequentially executing the control step and the calibration step at least once until the calibration error is within the preset range.
Optionally, the target vehicle further comprises a vehicle body, the sensor is located on the vehicle body, the internal parameter comprises a distortion parameter and a scaling parameter of the sensor, and the external parameter comprises position information of the sensor relative to the vehicle body.
According to another aspect of the embodiments of the present invention, there is also provided a calibration device for an autonomous vehicle, where a target vehicle is located on a calibration turntable, the calibration turntable is configured to drive the target vehicle to rotate to at least one predetermined position, a target is disposed on an outer periphery of the calibration turntable, and the target corresponds to the predetermined position, the device includes an obtaining unit, a control unit, and a calibration unit, where the obtaining unit is configured to obtain actual information of the target, where the actual information is actual target information, the target information includes position information, attitude information, and ID information, the position information is position information of the target relative to the calibration turntable, and the attitude information is attitude information of the target relative to the calibration turntable; the control unit is used for controlling the step that the target vehicle is controlled to acquire the image information and the point cloud information of the target after the calibration turntable rotates to the preset position; the calibration unit is used for performing calibration steps, and calibrating the target vehicle according to the actual information, the image information and the point cloud information.
According to yet another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program is for executing any one of the methods.
According to yet another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, where the program executes to perform any one of the methods.
There is also provided, in accordance with yet another aspect of an embodiment of the present invention, electronic equipment, including one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods described herein.
According to another aspect of the embodiments of the present invention, there is also provided a calibration system for an autonomous vehicle, the calibration system for an autonomous vehicle includes a calibration turntable, a target device, and a first control device, wherein the calibration turntable is configured to bear a target vehicle and drive the target vehicle to rotate to a predetermined position; the target device comprises a target, the target is positioned on the periphery of the calibration rotary table, and the target corresponds to the preset position; said first control means being adapted to perform any of said methods.
Optionally, the calibration system further includes a second control device, the second control device is in communication connection with the first control device, and the second control device is configured to control the calibration turntable to rotate to the predetermined position and then generate corresponding information, and send the information to the first control device.
Optionally, the calibration system further comprises a ramp, the ramp is communicated with the calibration turntable, and the target vehicle arrives on the calibration turntable through the ramp.
Optionally, the target device further comprises a movable base and a bracket, wherein one end of the bracket is connected with the movable base, and the other end of the bracket is rotatably connected with the target.
By adopting the technical scheme, in the calibration method of the automatic driving vehicle, firstly, the actual target information of the target is obtained, and the target information comprises the position information, the attitude information and the ID information of the target relative to the calibration turntable; then, after the calibration turntable rotates to the preset position, the target vehicle is controlled to obtain image information and point cloud information of the target; and finally, calibrating the target vehicle according to the actual information, the image information and the point cloud information. Compared with the prior art that the calibration of the automatic driving vehicle needs to be manually operated, and the calibration efficiency of the automatic driving vehicle is low, in the calibration method of the automatic driving vehicle, after the calibration turntable is rotated to the preset position, the target vehicle on the calibration turntable is driven to rotate to the preset position, the target vehicle is controlled to obtain the image information and the point cloud information of the target, and then the target vehicle is calibrated according to the image information, the point cloud information and the actual target information of the target, so that the calibration process is ensured to be free from manual participation, the calibration efficiency of the automatic driving vehicle is ensured to be high, and the calibration labor cost is ensured to be low.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 shows a schematic flow diagram of a calibration method for an autonomous vehicle according to an embodiment of the application;
FIG. 2 shows a schematic diagram of a calibration arrangement of an autonomous vehicle according to an embodiment of the application;
FIG. 3 shows a schematic diagram of a calibration system of an autonomous vehicle according to an embodiment of the application;
FIG. 4 shows a schematic diagram of a target marking device in a calibration system of an autonomous vehicle according to an embodiment of the application.
Wherein the figures include the following reference numerals:
100. calibrating the rotary table; 101. a target device; 102. a first control device; 103. a target vehicle; 104. a target; 105. a second control device; 106. a ramp; 107. a movable base; 108. and (4) a bracket.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background of the invention, in order to solve the above-mentioned problem of inefficient calibration of an autonomous vehicle in the prior art, in an exemplary embodiment of the present application, a calibration method of an autonomous vehicle, a calibration device thereof, a computer-readable storage medium, a processor, an electronic device, and a calibration system of an autonomous vehicle are provided.
According to an embodiment of the present application, a calibration method for an autonomous vehicle is provided.
Fig. 1 is a flowchart of a calibration method for an autonomous vehicle according to an embodiment of the present application, where a target vehicle is located on a calibration turntable, the calibration turntable is configured to drive the target vehicle to rotate to at least one predetermined position, and a target is disposed on an outer periphery of the calibration turntable, and the target corresponds to the predetermined position. As shown in fig. 1, the method comprises the steps of:
a step S101 of acquiring actual information of the target, the actual information being actual target information, the target information including position information, attitude information, and ID information, the position information being position information of the target with respect to the calibration turntable, the attitude information being attitude information of the target with respect to the calibration turntable;
step S102, a control step, namely, after the calibration turntable rotates to the preset position, controlling the target vehicle to acquire the image information and the point cloud information of the target;
step S103, a calibration step, namely calibrating the target vehicle according to the actual information, the image information and the point cloud information.
In the calibration method of the autonomous vehicle, first, actual target information of the target is acquired, the target information including position information, attitude information, and ID information of the target with respect to the calibration turn table; then, after the calibration turntable rotates to the preset position, the target vehicle is controlled to acquire image information and point cloud information of the target; and finally, calibrating the target vehicle according to the actual information, the image information and the point cloud information. Compared with the prior art that manual operation of an automatic driving vehicle is needed for calibration, and the problem that the calibration efficiency of the automatic driving vehicle is low is caused, in the calibration method of the automatic driving vehicle, the calibration turntable is rotated to a preset position, so that the target vehicle on the calibration turntable is driven to rotate to the preset position, the target vehicle is controlled to obtain image information and point cloud information of the target, and then the target vehicle is calibrated according to the image information, the point cloud information and actual target information of the target, the calibration process is guaranteed not to need manual participation, the calibration efficiency of the automatic driving vehicle is guaranteed to be high, and meanwhile the calibration labor cost is guaranteed to be low.
The correspondence between the target and the predetermined position means that the target is located a predetermined distance directly in front of the predetermined position.
In a specific embodiment, the predetermined position is a plurality of positions, the target can be a plurality of positions, and one predetermined position can correspond to one target or a plurality of targets. The target is attached with a plurality of patterns, the ID information is ID information obtained by identifying each pattern, the target information further includes size information of the target, the attitude information includes information such as an inclination angle of the target with respect to the calibration turntable, for example, a pitch angle, a yaw angle, and a roll angle, and the position information includes information such as an installation height of the target with respect to the calibration turntable.
According to a specific embodiment of the present application, the calibrating step includes: determining parameter information of a sensor of the target vehicle according to the actual information, the image information and the point cloud information, wherein the parameter information comprises internal parameters and external parameters; and configuring the sensor according to the parameter information to obtain the calibrated target vehicle. In this embodiment, the sensor parameter information of the target vehicle is determined according to the actual information, the image information, and the point cloud information, and the sensor is configured, so that the measurement accuracy of the configured sensor is ensured.
Specifically, the internal parameter is a parameter for determining a mapping relationship inside the sensor, and the external parameter is a parameter for determining a conversion relationship between the wound-up area and the external coordinate system.
According to another specific embodiment of the present application, configuring the sensor according to the parameter information to obtain the calibrated target vehicle includes: configuring the sensor according to the parameter information to obtain the configured target vehicle; determining a calibration error of the configured target vehicle; and determining that the calibration is successful under the condition that the calibration error is within a preset range. And further ensuring the calibration accuracy of the automatic driving vehicle by confirming whether the configured calibration error of the target vehicle is in a preset range.
According to another specific embodiment of the present application, determining the calibration error of the configured target vehicle includes: control the target vehicle after the configuration to determine calculation information of the target, the calculation information being the target information calculated by the target vehicle after the configuration; and determining the calibration error according to the calculated information and the actual information. The target information is calculated by controlling the configured target vehicle, and then the target information is compared with the actual information of the target to determine the calibration error, so that the calibration error is obtained simply and efficiently.
To further ensure that the calibration error is easily obtained, according to an embodiment of the present application, the controlling the target vehicle after configuration to determine the calculation information of the target includes: after the calibration turntable rotates to the preset position, controlling the configured target vehicle to acquire current image information and current point cloud information, wherein the current image information is the image information of the target acquired by the configured target vehicle, and the current point cloud information is the point cloud information of the target acquired by the configured target vehicle; and determining the calculation information according to the current image information and the current point cloud information by the target vehicle after control and configuration. The calibration turntable is controlled to rotate to the preset position to obtain the corresponding current image information and the corresponding current point cloud information, and then the configured target vehicle is controlled to determine the calculation information according to the current image information and the current point cloud information, so that the calibration error can be conveniently determined according to the calculation information and the actual information, and the high calibration efficiency of the automatic driving vehicle is further ensured.
In order to further ensure that the calibration efficiency of the autonomous vehicle is high, according to another specific embodiment of the present application, in the case that the calibration error is not within the predetermined range, the method further includes: and sequentially executing the control step and the calibration step at least once until the calibration error is within the preset range. By executing the control step and the calibration step at least once until the calibration error is within the calibration range, the calibration result of the automatic driving vehicle is further ensured to be accurate.
According to another specific embodiment of the present application, the target vehicle further includes a vehicle body, the sensor is located on the vehicle body, the internal parameter includes a distortion parameter and a scaling parameter of the sensor, and the external parameter includes position information of the sensor relative to the vehicle body.
In one embodiment, the sensor includes a camera and a laser radar, the camera obtains the image information of the target around the target vehicle, and the laser radar obtains the point cloud information of the target around the target vehicle.
The embodiment of the present application further provides a calibration device for an autonomous driving vehicle, where a target vehicle is located on a calibration turntable, the calibration turntable is configured to drive the target vehicle to rotate to at least one predetermined position, a target is disposed on the periphery of the calibration turntable, and the target corresponds to the predetermined position. The following describes a calibration device of an autonomous vehicle according to an embodiment of the present application.
FIG. 2 is a schematic diagram of a calibration arrangement for an autonomous vehicle according to an embodiment of the application. As shown in fig. 2, the apparatus includes an acquisition unit 10, a control unit 20, and a calibration unit 30, wherein the acquisition unit 10 is configured to acquire actual information of the target, the actual information being actual target information, the target information including position information, attitude information, and ID information, the position information being position information of the target with respect to the calibration turntable, and the attitude information being attitude information of the target with respect to the calibration turntable; the control unit 20 is configured to control the target vehicle to acquire image information and point cloud information of the target after the calibration turntable is rotated to the predetermined position; the calibration unit 30 is used for performing a calibration step, and calibrating the target vehicle according to the actual information, the image information, and the point cloud information.
In the calibration device for an autonomous vehicle, the acquisition unit is configured to acquire actual target information of the target, the target information including position information, attitude information, and ID information of the target with respect to the calibration turntable; the control unit is used for controlling the target vehicle to acquire the image information and the point cloud information of the target after the calibration turntable rotates to the preset position; the calibration unit is used for calibrating the target vehicle according to the actual information, the image information and the point cloud information. Compared with the prior art that manual operation of an automatic driving vehicle is needed for calibration, the problem that the calibration efficiency of the automatic driving vehicle is low is caused, in the calibration device of the automatic driving vehicle, the calibration turntable is rotated to a preset position, so that the target vehicle on the calibration turntable is driven to rotate to the preset position, the target vehicle is controlled to obtain image information and point cloud information of the target, and then the target vehicle is calibrated according to the image information, the point cloud information and actual target information of the target, the calibration process is guaranteed not to need manual participation, the calibration efficiency of the automatic driving vehicle is guaranteed to be high, and meanwhile the calibrated labor cost is guaranteed to be low.
The correspondence between the target and the predetermined position means that the target is located a predetermined distance directly in front of the predetermined position.
In a specific embodiment, the predetermined position is a plurality of positions, the target can be a plurality of positions, and one predetermined position can correspond to one target or a plurality of targets. The target is attached with a plurality of patterns, the ID information is ID information obtained by identifying each pattern, the target information further includes size information of the target, the attitude information includes information such as an inclination angle, a yaw angle, and a roll angle of the target with respect to the calibration turntable, and the position information includes information such as a mounting height of the target with respect to the calibration turntable.
According to a specific embodiment of the present application, the calibration unit includes a determining subunit and an obtaining subunit, where the determining subunit is configured to determine parameter information of a sensor of the target vehicle according to the actual information, the image information, and the point cloud information, where the parameter information includes an internal parameter and an external parameter; the obtaining subunit is configured to configure the sensor according to the parameter information to obtain the calibrated target vehicle. In this embodiment, the sensor parameter information of the target vehicle is determined according to the actual information, the image information, and the point cloud information, and the sensor is configured, so that the measurement accuracy of the configured sensor is ensured.
Specifically, the internal parameter is a parameter for determining a mapping relationship inside the sensor, and the external parameter is a parameter for determining a conversion relationship between the wound-up area and the external coordinate system.
According to another specific embodiment of the present application, the obtaining subunit includes a obtaining module, a first determining module, and a second determining module, where the obtaining module is configured to configure the sensor according to the parameter information to obtain the configured target vehicle; the first determining module is used for determining a calibration error of the target vehicle after configuration; the second determining module is used for determining that the calibration is successful under the condition that the calibration error is within a preset range. And further ensuring the calibration accuracy of the automatic driving vehicle by confirming whether the configured calibration error of the target vehicle is in a preset range.
According to another embodiment of the present application, the first determining module includes a control submodule and a determining submodule, wherein the control submodule is configured to control the configured target vehicle to determine the calculation information of the target, and the calculation information is the target information calculated by the configured target vehicle; the determining submodule is used for determining the calibration error according to the calculated information and the actual information. The target information is calculated by controlling the configured target vehicle, and then the target information is compared with the actual information of the target to determine the calibration error, so that the calibration error is obtained simply and efficiently.
In order to further ensure that the calibration error is obtained more easily, according to an embodiment of the present application, the control sub-module controls the configured target vehicle to obtain current image information and current point cloud information after the calibration turntable is rotated to the predetermined position, where the current image information is image information of the target obtained by the configured target vehicle, and the current point cloud information is point cloud information of the target obtained by the configured target vehicle; and determining the calculation information according to the current image information and the current point cloud information by the target vehicle after control and configuration. The calibration turntable is controlled to rotate to the preset position to obtain the corresponding current image information and the corresponding current point cloud information, and then the configured target vehicle is controlled to determine the calculation information according to the current image information and the current point cloud information, so that the calibration error can be conveniently determined according to the calculation information and the actual information, and the high calibration efficiency of the automatic driving vehicle is further ensured.
In order to further ensure that the calibration efficiency of the autonomous vehicle is high, according to another specific embodiment of the present application, the apparatus further includes an execution unit, and the execution unit is configured to, when the calibration error is not within the predetermined range, sequentially execute the control step and the calibration step at least once until the calibration error is within the predetermined range. By executing the control step and the calibration step at least once until the calibration error is within the calibration range, the calibration result of the automatic driving vehicle is further ensured to be accurate.
According to another specific embodiment of the present application, the target vehicle further includes a vehicle body, the sensor is located on the vehicle body, the internal parameter includes a distortion parameter and a scaling parameter of the sensor, and the external parameter includes position information of the sensor relative to the vehicle body.
In one embodiment, the sensor includes a camera and a laser radar, the camera obtains the image information of the target around the target vehicle, and the laser radar obtains the point cloud information of the target around the target vehicle.
The calibration device of the automatic driving vehicle comprises a processor and a memory, wherein the acquisition unit, the control unit, the calibration unit, the execution unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem of low calibration efficiency of the automatic driving vehicle in the prior art is solved by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM), and non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, which, when executed by a processor, implements the above-described calibration method for an autonomous vehicle.
The embodiment of the invention provides a processor, which is used for running a program, wherein the calibration method of the automatic driving vehicle is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:
a step S101 of acquiring actual information of the target, the actual information being actual target information, the target information including position information, attitude information, and ID information, the position information being position information of the target with respect to the calibration turntable, the attitude information being attitude information of the target with respect to the calibration turntable;
step S102, a control step, namely, after the calibration turntable rotates to the preset position, controlling the target vehicle to acquire the image information and the point cloud information of the target;
step S103, a calibration step, namely calibrating the target vehicle according to the actual information, the image information and the point cloud information.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:
a step S101 of acquiring actual information of the target, the actual information being actual target information, the target information including position information, attitude information, and ID information, the position information being position information of the target with respect to the calibration turntable, the attitude information being attitude information of the target with respect to the calibration turntable;
step S102, a control step, namely, after the calibration turntable rotates to the preset position, controlling the target vehicle to acquire the image information and the point cloud information of the target;
step S103, a calibration step, namely calibrating the target vehicle according to the actual information, the image information and the point cloud information.
According to another exemplary embodiment of the application, there is further provided a processor for executing a program, wherein the program when executed performs any of the above-described methods.
There is also provided, in accordance with yet another exemplary embodiment of the present application, electronic equipment, including one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods described above.
According to still another exemplary embodiment of the present application, there is provided a calibration system of an autonomous vehicle, as shown in fig. 3, the calibration system of an autonomous vehicle includes a calibration turntable 100, a target device 101, and a first control device 102, where the calibration turntable 100 is configured to carry a target vehicle 103 and rotate the target vehicle 103 to a predetermined position; as shown in fig. 4, the target device 101 includes a target 104, the target 104 is located on the outer periphery of the calibration turntable 100, and the target 104 corresponds to the predetermined position; the first control device 102 is configured to perform any of the above-described methods.
The calibration system of the automatic driving vehicle comprises a calibration turntable, a target device and a first control device, wherein the calibration turntable is used for bearing a target vehicle and driving the target vehicle to rotate to a preset position; the target device comprises a target, the target is positioned on the periphery of the calibration turntable, and the target corresponds to the preset position; the first control means is arranged to perform any of the methods described above. Compared with the prior art that manual operation of an automatic driving vehicle is needed for calibration, the problem that the calibration efficiency of the automatic driving vehicle is low is caused, in the calibration system of the automatic driving vehicle, the calibration turntable is rotated to a preset position, so that the target vehicle on the calibration turntable is driven to rotate to the preset position, the target vehicle is controlled to obtain image information and point cloud information of the target, and then the target vehicle is calibrated according to the image information, the point cloud information and actual target information of the target, the calibration process is guaranteed not to need manual participation, the calibration efficiency of the automatic driving vehicle is guaranteed to be high, and meanwhile the calibrated labor cost is guaranteed to be low.
In a specific embodiment, the calibration turntable is required to meet the requirements including an area requirement that can accommodate the target vehicle; the software control requirement is met, and meanwhile, the manual control requirement is also met; the accuracy of reaching the preset position is within 0.2 degrees; stable, strong and durable.
According to an embodiment of the present application, as shown in fig. 3, the calibration system further includes a second control device 105, the second control device 105 is connected to the first control device 102 in a communication manner, and the second control device 105 is configured to control the calibration turntable 100 to rotate to the predetermined position, generate corresponding information, and send the information to the first control device 102.
According to another embodiment of the present application, as shown in fig. 3, the calibration system further includes a ramp 106, the ramp 106 is communicated with the calibration turntable 100, and the target vehicle 103 arrives at the calibration turntable 100 through the ramp 106.
According to another embodiment of the present application, as shown in fig. 4, the target device 101 further includes a movable base 107 and a bracket 108, wherein one end of the bracket 108 is connected to the movable base 107, and the other end of the bracket 108 is rotatably connected to the target 104. Through setting up above-mentioned portable base, guaranteed to move above-mentioned mark target comparatively in a flexible way, rotationally be connected through with above-mentioned support and above-mentioned mark target, guaranteed the inclination that can adjust above-mentioned mark target in a flexible way. In addition, the support can be a support with adjustable length, so that the height of the target from the ground can be adjusted flexibly and conveniently.
In one embodiment, the target assembly meets the following requirements, including a target flatness of less than 0.5 mm; the support can be adjusted between 1m and 3 m; the target can meet the adjustment direction of each angle. The material of above-mentioned mark target support includes aluminium, and the material of above-mentioned mark target includes carbon fibre and aluminium, has guaranteed that above-mentioned mark target device weight is lighter, and easy adjustment removes.
In the above embodiments of the present invention, 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.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:
1) in the calibration method of the autonomous vehicle, first, actual target information of the target is acquired, and the target information includes position information and attitude information of the target relative to the calibration turntable, and ID information of the target; then, after the calibration turntable rotates to the preset position, the target vehicle is controlled to acquire image information and point cloud information of the target; and finally, calibrating the target vehicle according to the actual information, the image information and the point cloud information. Compared with the prior art that manual operation of an automatic driving vehicle is needed for calibration, and the problem that the calibration efficiency of the automatic driving vehicle is low is caused, in the calibration method of the automatic driving vehicle, the calibration turntable is rotated to a preset position, so that the target vehicle on the calibration turntable is driven to rotate to the preset position, the target vehicle is controlled to obtain image information and point cloud information of the target, and then the target vehicle is calibrated according to the image information, the point cloud information and actual target information of the target, the calibration process is guaranteed not to need manual participation, the calibration efficiency of the automatic driving vehicle is guaranteed to be high, and meanwhile the calibration labor cost is guaranteed to be low.
2) In the calibration device for an autonomous vehicle according to the present application, the obtaining unit is configured to obtain actual target information of the target, the target information including position information and attitude information of the target with respect to the calibration turntable, and ID information of the target; the control unit is used for controlling the target vehicle to acquire the image information and the point cloud information of the target after the calibration turntable rotates to the preset position; the calibration unit is used for calibrating the target vehicle according to the actual information, the image information and the point cloud information. Compared with the prior art that manual operation of an automatic driving vehicle is needed for calibration, the problem that the calibration efficiency of the automatic driving vehicle is low is caused, in the calibration device of the automatic driving vehicle, the calibration turntable is rotated to a preset position, so that the target vehicle on the calibration turntable is driven to rotate to the preset position, the target vehicle is controlled to obtain image information and point cloud information of the target, and then the target vehicle is calibrated according to the image information, the point cloud information and actual target information of the target, the calibration process is guaranteed not to need manual participation, the calibration efficiency of the automatic driving vehicle is guaranteed to be high, and meanwhile the calibrated labor cost is guaranteed to be low.
3) The calibration system of the automatic driving vehicle comprises a calibration turntable, a target device and a first control device, wherein the calibration turntable is used for bearing a target vehicle and driving the target vehicle to rotate to a preset position; the target device comprises a target, the target is positioned on the periphery of the calibration turntable, and the target corresponds to the preset position; the first control means is arranged to perform any of the methods described above. Compared with the prior art that manual operation of an automatic driving vehicle is needed for calibration, the problem that the calibration efficiency of the automatic driving vehicle is low is caused, in the calibration system of the automatic driving vehicle, the calibration turntable is rotated to a preset position, so that the target vehicle on the calibration turntable is driven to rotate to the preset position, the target vehicle is controlled to obtain image information and point cloud information of the target, and then the target vehicle is calibrated according to the image information, the point cloud information and actual target information of the target, the calibration process is guaranteed not to need manual participation, the calibration efficiency of the automatic driving vehicle is guaranteed to be high, and meanwhile the calibrated labor cost is guaranteed to be low.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (15)
1. A calibration method for an automatic driving vehicle is characterized in that a target vehicle is positioned on a calibration turntable, the calibration turntable is used for driving the target vehicle to rotate to at least one preset position, a target is arranged on the periphery of the calibration turntable, and the target corresponds to the preset position, and the method comprises the following steps:
acquiring actual information of the target, wherein the actual information is actual target information, the target information comprises position information, attitude information and ID information, the position information is position information of the target relative to the calibration turntable, and the attitude information is attitude information of the target relative to the calibration turntable;
a control step of controlling the target vehicle to acquire image information and point cloud information of the target after the calibration turntable rotates to the predetermined position;
and a calibration step, namely calibrating the target vehicle according to the actual information, the image information and the point cloud information.
2. The method of claim 1, wherein the calibrating step comprises:
determining parameter information of a sensor of the target vehicle according to the actual information, the image information and the point cloud information, wherein the parameter information comprises internal parameters and external parameters;
and configuring the sensor according to the parameter information to obtain the calibrated target vehicle.
3. The method of claim 2, wherein configuring the sensors according to the parameter information to obtain the calibrated target vehicle comprises:
configuring the sensor according to the parameter information to obtain the configured target vehicle;
determining a calibration error of the configured target vehicle;
and determining that the calibration is successful under the condition that the calibration error is within a preset range.
4. The method of claim 3, wherein determining a calibration error for the target vehicle after configuration comprises:
controlling the target vehicle after configuration to determine calculation information of the target, wherein the calculation information is the target information calculated by the target vehicle after configuration;
and determining the calibration error according to the calculated information and the actual information.
5. The method of claim 4, wherein controlling the target vehicle after configuration to determine the calculated information for the target comprises:
after the calibration turntable rotates to the preset position, controlling the configured target vehicle to acquire current image information and current point cloud information, wherein the current image information is the image information of the target acquired by the configured target vehicle, and the current point cloud information is the point cloud information of the target acquired by the configured target vehicle;
and determining the calculation information according to the current image information and the current point cloud information by the target vehicle after control and configuration.
6. The method according to any one of claims 3 to 5, wherein in case the calibration error is not within the predetermined range, the method further comprises:
and sequentially executing the control step and the calibration step at least once until the calibration error is within the preset range.
7. The method of any one of claims 2-5, wherein the target vehicle further comprises a vehicle body, the sensor is located on the vehicle body, the internal parameter comprises a distortion parameter of the sensor and a scaling parameter, and the external parameter comprises position information of the sensor relative to the vehicle body.
8. A calibration device for an automatic driving vehicle, wherein a target vehicle is located on a calibration turntable, the calibration turntable is used for driving the target vehicle to rotate to at least one preset position, a target is arranged on the periphery of the calibration turntable, and the target corresponds to the preset position, the device comprises:
an obtaining unit, configured to obtain actual information of the target, where the actual information is actual target information, the target information includes position information, attitude information, and ID information, the position information is position information of the target relative to the calibration turntable, and the attitude information is attitude information of the target relative to the calibration turntable;
the control unit is used for controlling the step that the target vehicle is controlled to acquire the image information and the point cloud information of the target after the calibration turntable rotates to the preset position;
and the calibration unit is used for calibrating the target vehicle according to the actual information, the image information and the point cloud information.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 7.
10. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 7.
11. An electronic device, comprising: one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing the method of any of claims 1-7.
12. A calibration system for an autonomous vehicle, comprising:
the calibration turntable is used for bearing a target vehicle and driving the target vehicle to rotate to a preset position;
the target device comprises a target, the target is positioned on the periphery of the calibration rotary table, and the target corresponds to the preset position;
first control means for performing the method of any one of claims 1 to 7.
13. The calibration system as defined in claim 12, further comprising:
and the second control device is in communication connection with the first control device and is used for controlling the calibration turntable to rotate to the preset position and then generating corresponding information and sending the information to the first control device.
14. The calibration system as defined in claim 12, further comprising:
the ramp is communicated with the calibration rotary table, and the target vehicle arrives on the calibration rotary table through the ramp.
15. The calibration system of claim 12, wherein the target device further comprises:
a movable base;
the one end of support with but mobile base is connected, the other end of support rotationally with mark target connection.
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