CN114384481A

CN114384481A - Multi-sensor fusion calibration system

Info

Publication number: CN114384481A
Application number: CN202111681735.1A
Authority: CN
Inventors: 边文斌; 王磊; 陶文明; 司书哲
Original assignee: Shun Tai Automobile Co ltd
Current assignee: HUNAN HANGTIAN CHENGYUAN PRECISION MACHINERY CO Ltd; Shun Tai Automobile Co ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-04-22

Abstract

The correcting device, the camera calibration device, the FRS radar calibration device, the AVM calibration device and the laser calibration device in the multi-sensor fusion calibration system are all connected with the control device; the alignment device performs alignment calibration on the vehicle body of the calibrated vehicle according to the calibration instruction to obtain an alignment calibration result; the camera calibration device calibrates a camera of the calibrated vehicle according to the calibration instruction to obtain a camera calibration result; the FRS radar calibration device calibrates the radar of the calibrated vehicle according to the calibration instruction to obtain a radar calibration result; the AVM calibration device calibrates an AVM module of the calibrated vehicle according to the calibration instruction to obtain an AVM calibration result; the laser calibration device calibrates the driving axis of the calibrated vehicle according to the calibration instruction to obtain a driving axis calibration result; and the control device generates a calibration report according to the calibration result of the alignment, the camera calibration result, the radar calibration result, the AVM calibration result and the driving axis calibration result so as to obtain an accurate fusion calibration result.

Description

Multi-sensor fusion calibration system

Technical Field

The invention relates to the technical field of unmanned vehicle calibration, in particular to a multi-sensor fusion calibration system.

Background

The existing vehicle calibration system generally classifies and calibrates vehicle running parameters in terms of items. In addition, in the calibration process, the calibration system needs to be arranged in different driving scenes according to different driving scenes of the automobile, so that the calibration cost is greatly increased.

Disclosure of Invention

The invention aims to provide a multi-sensor fusion calibration system, which can adopt a single field to perform fusion calibration on an unmanned vehicle, thereby reducing the calibration cost.

In order to achieve the purpose, the invention provides the following scheme:

a multi-sensor fusion calibration system, comprising: the device comprises a rectification device, a camera calibration device, an FRS radar calibration device, an AVM calibration device, a laser calibration device and a control device;

the aligning device, the camera shooting calibration device, the FRS radar calibration device, the AVM calibration device and the laser calibration device are all connected with the control device; the control device is used for generating a calibration instruction; the alignment device is used for aligning and calibrating the vehicle body of the calibrated vehicle according to the calibration instruction to obtain an alignment calibration result; the camera calibration device is used for calibrating a camera of the calibrated vehicle according to the calibration instruction to obtain a camera calibration result; the FRS radar calibration device is used for calibrating the radar of the calibrated vehicle according to the calibration instruction to obtain a radar calibration result; the AVM calibration device is used for calibrating an AVM module of the calibrated vehicle according to the calibration instruction to obtain an AVM calibration result; the laser calibration device is used for calibrating the running axis of the vehicle to be calibrated according to the calibration instruction to obtain a running axis calibration result; the control device is also used for generating a calibration report according to the calibration result of the alignment, the camera calibration result, the radar calibration result, the AVM calibration result and the driving axis calibration result.

Preferably, the squaring device includes: the device comprises a front straightening mechanism, a front roller mechanism, a rear straightening mechanism and a rear roller mechanism;

the front straightening mechanism, the front roller mechanism, the rear straightening mechanism and the rear roller mechanism are all connected with the control device; the front centering mechanism is used for centering the front wheel; the front roller mechanism is used for positioning and moving the front wheel; the rear centering mechanism is used for centering the rear wheel; the rear roller mechanism is used for positioning and moving the front wheels.

Preferably, the method further comprises the following steps: a first suspension and a second suspension;

the FRS radar calibration devices are all arranged on the first suspension; the laser calibration device is installed on the second suspension.

Preferably, the FRS radar calibration apparatus includes: a radar transceiver and a corner reflector;

the radar transmitting and receiving instrument is connected with the control device; the radar transmitting and receiving instrument is used for transmitting and receiving radar signals; the corner reflector is mounted on the first suspension; the angle transmitter is used for reflecting the radar signals transmitted by the radar transmitting and receiving instrument.

Preferably, the first suspension is provided with an adjustment mechanism;

the corner reflector is mounted on the adjusting mechanism; the adjusting mechanism is connected with the control device; and the adjusting mechanism adjusts the angle and the displacement according to the control command generated by the control device.

Preferably, the camera calibration device includes: the FCS target, the LED lamp and the calibration plate;

the FCS target is mounted on the first suspension; the calibration plates are circumferentially distributed along the straightening device; the FCS target is connected with the control device; the FCS target is used for receiving the light signals emitted by the calibration board.

Preferably, the calibration plate is a grid structure including three colors of black, white and gray.

Preferably, the laser calibration device includes: a laser target instrument and a laser target;

the laser target instrument is connected with the control device; the laser target instrument is used for transmitting and receiving laser signals; the laser target is arranged on the second suspension; the laser target is used for reflecting the laser signal.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is a schematic plan structure diagram of a multi-sensor fusion calibration system provided by the present invention;

FIG. 2 is a schematic three-dimensional structure diagram of a multi-sensor fusion calibration system provided by the present invention;

fig. 3 is a diagram illustrating an installation manner of an FRS radar calibration apparatus according to an embodiment of the present invention;

FIG. 4 is a schematic view of a microwave absorbing material attached according to an embodiment of the present invention;

fig. 5 is an overall installation diagram of the multi-sensor fusion calibration system provided in the embodiment of the present invention.

The reference numbers illustrate:

1-a first suspension, 2-an FCS target, 3-a laser calibration device, 4-a second suspension, 5-a correcting device, 6-an AVM calibration device, 7-a laser target, 8-a control device and 9-an FRS radar calibration device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

The invention provides a multi-sensor fusion calibration system, which comprises: the device comprises a correcting device 5, a camera shooting calibration device, an FRS radar calibration device 9, an AVM calibration device 6, a laser calibration device 3 and a control device 8.

The adjusting device 5, the camera calibration device, the FRS radar calibration device 9, the AVM calibration device 6 and the laser calibration device 3 are all connected with the control device 8. The control device 8 is used for generating a calibration command. The alignment device 5 is used for performing alignment calibration on the vehicle body of the vehicle to be calibrated according to the calibration instruction to obtain an alignment calibration result. The camera calibration device is used for calibrating a camera of the calibrated vehicle according to the calibration instruction to obtain a camera calibration result. The FRS radar calibration device 9 is used for calibrating the radar of the calibrated vehicle according to the calibration instruction to obtain a radar calibration result. The AVM calibration device 6 is used for calibrating an AVM module of the calibrated vehicle according to the calibration instruction to obtain an AVM calibration result. The laser calibration device 3 is used for calibrating the driving axis of the vehicle to be calibrated according to the calibration instruction to obtain the driving axis calibration result. The control device 8 is further configured to generate a calibration report according to the calibration result of the centering, the camera calibration result, the radar calibration result, the AVM calibration result, and the driving axis calibration result.

A panoramic image system (AVM) captures the scenery around the vehicle and synthesizes the scenery into a 360-degree panoramic image through a controller, and the display effect is similar to the image shot overhead from the vehicle. The panoramic image system not only provides a panoramic image, but also displays a dynamic auxiliary line and a parking auxiliary function. Therefore, the accuracy of the panoramic image stitching will directly affect the user experience. The whole vehicle offline calibration of the panoramic all-around image system is to calibrate according to an actual vehicle so as to ensure the effect of the panoramic image.

In order to further improve the accuracy of the calibration of the centering of the vehicle body for the calibration of the driving assistance system of the vehicle, as shown in fig. 1 and 2, the present invention employs a centering device 5 comprising: the device comprises a front straightening mechanism, a front roller mechanism, a rear straightening mechanism and a rear roller mechanism.

The front straightening mechanism, the front roller mechanism, the rear straightening mechanism and the rear roller mechanism are all connected with the control device 8. The front centering mechanism is used for centering the front wheel. The front roller mechanism is used for positioning and moving the front wheel. The rear centering mechanism is used for centering the rear wheel. The rear roller mechanism is used for positioning and moving the front wheels.

In this embodiment, the installation distance between the mechanisms provided by the aligning device 5 can be set according to the size of the actual vehicle to be measured, for example, the vehicle length of the actual vehicle to be measured is not greater than 6000mm, the vehicle width is not greater than 2200mm, and the wheel base is not greater than 3600 mm. Under this test condition, the benchmarks may be located as: vehicle centerline position + front wheel centerline. The preset axle load in the control device 8 is 3t, the aligning precision is +/-10 mm (error of a longitudinal central line of the vehicle), and the aligning speed is less than or equal to 5 s.

In this embodiment, the positioning and moving of the wheels are mainly achieved through an electric control mode, for example, a cylinder, a motor, and the like are adopted to achieve a rolling mode.

In order to further improve the overall calibration effect, as shown in fig. 1 and 2, the multi-sensor fusion calibration system provided by the invention further includes: a first suspension 1 and a second suspension 4.

The FRS radar calibration devices 9 are all installed on the first suspension 1. The laser calibration device 3 is mounted on the second suspension 4.

Further, as another embodiment of the present invention, the FRS radar calibration apparatus 9 provided above includes: radar transceiver and corner reflector.

The radar transmitting and receiving instrument is connected with the control device 8. The radar transmitting and receiving instrument is used for transmitting and receiving radar signals. The corner reflector is mounted on the first suspension 1. The angle transmitter is used for reflecting the radar signals transmitted by the radar transmitting and receiving instrument. The radar transceiver is preferably a handheld diagnostic device.

In this embodiment, the purpose of passive calibration of the FRS radar is to determine the deviation of the calibration mirror axis from the driving axis by optical measurement, then read the deviation angle of the calibration mirror from the radar axis, and adjust the calibration bolts in the horizontal and vertical directions to make the radar axis coincide with the driving axis or be within an allowable range. The precise deviation angles (horizontal and vertical) between the calibration mirror axis and the radar axis have been written to the radar sensor and can be read by diagnostic commands.

In the actual calibration process, the passive calibration of the FRS radar provided by the invention can be completed by adopting a platform comprising a vehicle to be calibrated, calibration equipment (an optical measurement instrument) and a calibration computer. The FRS radar calibration device 9 is installed as shown in fig. 3.

Further, the product specifications of the corner reflector adopted in the embodiment are as follows: parameter-76. 5G, RCS-10 dbsm. Material-steel. Surface flatness-0. 03 mm. The corner reflector is mounted on the outside of the first suspension 1, and its angle can be adjusted by means of screw threads and thickness adjustment tabs. In order to achieve a real-time adjustment of the corner reflector, the invention provides an adjusting mechanism on the first suspension 1.

The corner reflector is mounted on the adjustment mechanism. The adjusting mechanism is connected with the control device 8. The adjustment mechanism adjusts the angle and displacement in accordance with a control command generated by the control device 8. The adjusting structure is placed at the bottom of the first suspension 1 and is adhered with a wave-absorbing material to prevent other signals from being reflected, as shown in fig. 4.

The FRS radar calibration system comprises a Y-axis moving device and adopts a Mitsubishi PLC system to complete movement. Because the lens can change the original ray into a parallel line, the Z-axis height has no influence on the precision calibration, and therefore the Z-axis height is not required to be adjusted. The system only needs to adjust the Y axis to facilitate the vehicle to enter and exit. In order to meet the requirement of calibration precision, the adjustment of the original precision is completed through the leveling bolt, and the overall installation diagram is shown in fig. 5.

Further, the invention adopts a camera calibration device to realize the optical measurement of the vehicle. The camera calibration device comprises: FCS target 2, LED lamp, and calibration plate.

The FCS target 2 is mounted on the first suspension 1. The calibration plates are circumferentially distributed along the aligning device 5. The FCS target 2 is connected to a control device 8. The FCS target 2 is used to receive the light signal emitted from the calibration board.

The center of the camera calibration device is consistent with that of the radar calibration device, and the camera calibration device can retract to effectively avoid the vehicle when the vehicle is driven out from the front after calibration is finished.

Errors in optical calibration include: errors in measurement and errors in manual adjustment (mechanical accuracy or mechanical, software quantitative accuracy).

The manual adjustment error means that the light spot finally needs to be adjusted to the precision range of the 'definition point', and the calibration can be considered to be successful within the precision range.

The radar installation error (+ -3) refers to the deviation between the plane normal line formed by the installation reference point of the radar on the support and the vehicle running axis before the radar is calibrated. The installation error range depends on the measurement range of the equipment supplier measuring equipment, and is recommended to be not more than +/-3 degrees.

Note that the deviation of the normal of the laser measurement system from the vehicle travel axis (determined by the toe-in of the non-steered wheels, independent of the steered wheels), is measurable and must be guaranteed to be ± 0 before radar calibration. Within 15 deg.. It should be noted that if the vehicle changes the driving axis when adjusting its own parameters (e.g. adjusting toe), the drum needs to be re-rotated and the deviation value needs to be re-measured before calibration starts, so as to ensure that the deviation between the driving axis and the equipment axis is ± 0. Within 15 deg..

In the calibration process, when the radar connector is installed downwards and the axis of the calibration mirror is positioned in the anticlockwise direction of the radar axis, the horizontal deviation angle is a positive value. When the radar connector is mounted down, the vertical deviation angle is positive when the collimating mirror axis is below the radar axis.

And designing a coordinate system of the light collection device of the passive calibration equipment based on the coordinate system. Special attention is paid to the relationship between the sign of the angle in the coordinate system and the actual calibration mirror deviation direction. Based on the above definition, the laser of the passive calibration device is projected onto the light collection box through specular reflection.

The calibration plate is a grid structure containing three colors of black, white and gray. The calibration board is a calibration scheme designed for the calibration of the active safety camera production line. As a scheme based on the target, in the calibration process, a vehicle to be calibrated needs to be fixed on a specific station at the tail end of a production line, and a camera is used for shooting a calibration plate vertically placed in front of the station. The calibration plate has a plurality of geometric features that are very strong in comparison to the rest of the calibration plate. The calibration plate is installed at a certain reference position in front of the vehicle, and the camera acquires images from the calibration plate. The position of the geometric elements in the image can then be determined by image analysis. In the in-line mode, the vehicle is fixed in front of a stationary target (calibration plate), and the plate is calibrated based on a standard size. The TAC calibration plate consists of two patterns. Each pattern is composed of two lines of black and white squares which are alternated, each line comprises 3 squares, and the side length of each square is S. The periphery of the pattern of the calibration plate can be provided with a certain blank. As shown in the figure. The software determines the actual orientation angle of the camera from the determined image coordinates and the known reference position of the calibration plate and stores this information in the control unit. In addition, the actual height of the camera can be determined.

In this embodiment, the surface of the calibration plate should be made of a matte material, and the specular reflection capability is poor. The calibration plate should be flat and easy to clean. The calibration plate can be stored and used for a long time, is wear-resistant, is not easy to deform and discolor and has certain corrosion resistance.

The calibration process needs to shoot a calibration plate (target) vertically installed in front of the vehicle by using a vehicle-mounted camera. The calibration board consists of 2 sheets of a 2X3cm black and white grid pattern, each grid being square with gray edges around the pattern. The left and right patterns are horizontal and opposite up and down (or rotated 180 °), and the specific parameter values refer to the dimension of the calibration plate and the installation parameters. The calibration plate may be a one-piece plate. Color of calibration plate: white color number N9. 5, black color number N1. 5, edge gray color number N5. 5. The calibration plate should conform to the complete calibration pattern, and white edges of more than 50mm can be left around the pattern to improve the detection precision. And (3) calibrating the flatness of the plate: the flatness error is less than or equal to 3 mm.

The calibration plate should be installed in front of the vehicle, the two patterns should be equal in height and horizontal, and the plate surface should be perpendicular to the ground. The specific installation position parameter values refer to the dimension of the calibration plate and the installation parameters.

The invention uses a YZ two-axis mechanical system to fix a target, after a test workstation obtains wheel arch data through a detection line, the height of a Z axis is adjusted to be consistent with the height of a vehicle body, a Y axis is first positioning data, adjustment is not carried out after the positioning of the Y axis and a central shaft of a camera is completed, and the positioning is carried out again if system errors occur. The rotation axis data along the X-axis can be adjusted by mounting screws.

The part provides a scheme for how to carry out a detection and correction process and the required environment, tool equipment, process and software requirements after the rear laser radar system is installed off line. Ground finish painting, it is recommended to paint a yellow paint and distinguish the work area from the pedestrian area. The calibration area needs to be partitioned into a dihedron (shown in the figure) by a calibration plate, and the two-dimensional code is pasted on the mounting plate by a matte material.

Further, the basic setting for realizing laser calibration comprises:

power supply: the distribution box is 220V.

A lamp source: the LED light source can be effectively used for the station calibration illumination.

Vehicle attitude control device 8: the device is required to be capable of carrying out attitude control on the automobile and used for determining that the normal direction of the laser calibration plate is on the same horizontal plane with the automobile, and the material of the device is required to be steel type and other materials which are not easy to deform.

A support: for fixing the calibration plate. The support is made of standard aluminum profiles.

When the automobile and the calibration board are controlled to the designated position, the radar can be calibrated. Based on this, the laser calibration device 3 includes: a laser target 7 gauge and a laser target 7.

The laser target 7 instrument is connected with a control device 8. The laser target 7 is used for transmitting and receiving laser signals. The laser target 7 is disposed on the second suspension 4. The laser target 7 is used to reflect the laser signal.

The distance from the surface of the laser target 7 to the parking space at least needs to be ensured that the distance from the tail of the vehicle to the laser target 7 is 2m +/-0. 15m (TBD). The vertical height of the calibration plate needs to be the same as the height of the laser radar. And the calibration target is consistent with the Z-axis direction of the vehicle by adjusting the Z-axis parameter. The moving stroke of the calibration target in the direction X, Z can be controlled as long as the vehicle can pass through. The accuracy of the X, Z direction can be controlled within + -1 cm. And the rear laser mechanical calibration comprises an XZ axis adjusting system, the left rear side target and the right rear side target are automatically adjusted to designated positions after the height data of the wheel arch is obtained through the electric inspection server, and a calibration program is started to finish the calibration of the rear laser radar. And target materials are arranged on the side surface and the back surface to finish the calibration of the side surface laser sensor.

In the actual calibration process, the control device 8 needs to perform mechanical adjustment when the read value is greater than the original set value by +/-3 degrees. And reading the numerical value between the original set value +/-3 and +/-1 degrees to carry out software correction. The reading value is less than the original set value by +/-1 degree without any correction.

Further, in the practical application process of the present invention, the site setting parameters of the multi-sensor fusion calibration system can be set according to the practical requirements of the customers, for example:

calibrating the field size: 5600mm 9000mm (adjusted according to the camera requirements of the research and development products). Taking a checkerboard scheme as an example, the length, the width and the error of the whole calibration field need to be guaranteed to be +/-15 mm, all black squares are carried out according to the size on the pattern, and the error is guaranteed to be within +/-2 mm. The ground of the calibration site is required to be smooth, and the flatness error in the calibration site is kept within 2 mm. The flatness error is required to be within the maximum error of +/-5 mm of any two meters. Ensuring that the four wheels of the vehicle are on a horizontal plane. Remarking: 5 mm: the trigonometric function algorithm is approximately equal to 0. 2 deg. The panoramic parking auxiliary system calibration site is drawn by adopting black-and-white epoxy resin floor paint, the abrasion resistance and the matte performance are involved, in the paint laying process, the ground can not obviously reflect light after the paint is laid under the illumination condition, and the (meteorological silica) -containing chemical flatting agent is mixed in proportion for construction when the paint is recommended to be actually sprayed, so that the ground reflection is avoided. A steel plate having a thickness of 8mm or more is used.

Each target pattern was:

calibrating and identifying block shape characteristics: need guarantee during the site construction that the calibration piece is the square, and the four corners is the right angle, and the four sides are the straight flange and mark the identification block material: lauer color number RAL9017 traffic black, no reflective haze finish. The installation accuracy of the calibration identification block requires that the deviation between the actual installation position of the calibration identification block and the target position in the X/Y/Z axis direction should be less than 1 mm. Calibrating the size of the identification block: 1200mm (± 5mm) (size error ≤ 1 mm).

The shape of each target is a checkerboard shape, for example:

when site construction is carried out, the marking blocks need to be guaranteed to be black and white checkerboards, four corners are right angles, and four sides are straight-edge checkerboard marking identification block materials: white adopts Lao Er color number RAL9016 traffic white, and black color block is Lao Er color number RAL9017 traffic black without reflecting haze finish. The mounting precision of the checkerboard requires that the deviation between the actual mounting position of the checkerboard and the target position in the X/Y/Z axis direction should be less than 3 mm.

The illumination requirement is as follows:

the diffuse reflection light can not reflect light on the ground, and the LED lamp tube can vertically illuminate. The light source is used for lighting (the specification of the LED lamp tube is 1.2 meters long, 6500K color temperature and power is more than 16W, and the LED lamp tube is used for vertical lighting.

Height of the light source: about 3m to 4 m. Avoid 50HZ stroboflash of common fluorescent and fluorescent tubes. The ambient light brightness value is between 300lux and 700 lux.

The lighting LED lamp tube is arranged at a height of 3-4 meters above the calibration field. In order to prevent sunlight from entering a calibration field through doors and windows, the doors and windows around the field are required to be pasted with thickened white covering cloth or shading plates (so that the environmental illumination is stable).

The calibration pattern is:

before drawing the calibration pattern, the ground is slightly roughened to enhance the adhesion of paint and ensure wear resistance, the calibration pattern is required to be wear resistant, the color of the pattern is kept for a long time, and if a problem occurs in the quality guarantee period, the calibration pattern is required to be replaced by a supplier free of charge.

The calibration pattern adopts full-matte black-and-white paint, and black and white blocks are required to be sprayed on a steel plate with the thickness of not less than 8mm for integral assembly.

The white color adopts Lauer color number RAL9016 traffic white paint, and the corresponding RGB value is

255, 255, 255, (e.g., Tiangong delustering white). The black color is Lauer color number RAL9017 traffic black, and the corresponding black RGB values are 7, 7 and 7 (for example, Tiangong delustering black). (input before design)

Drawing in a paint spraying mode, and uniformly spraying paint. The white paint area is masked while the black paint is sprayed. The black paint area is masked while the white paint is sprayed. Black and white are clearly not mutually doped.

The black and white block of the calibration plate has strong stability, small deformation caused by temperature, wear resistance, general collision resistance and surface roughness of 0. R alpha value is more than 2 and less than 0. And 4, the abrasion of black and white blocks of the calibration plate can be avoided in the test of 5 ten thousand vehicles.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims

1. A multi-sensor fusion calibration system, comprising: the device comprises a rectification device, a camera calibration device, an FRS radar calibration device, an AVM calibration device, a laser calibration device and a control device;

2. The multi-sensor fusion calibration system of claim 1, wherein the alignment device comprises: the device comprises a front straightening mechanism, a front roller mechanism, a rear straightening mechanism and a rear roller mechanism;

3. The multi-sensor fusion calibration system of claim 1, further comprising: a first suspension and a second suspension;

4. The multi-sensor fusion calibration system of claim 2, wherein the FRS radar calibration device comprises: a radar transceiver and a corner reflector;

5. The multi-sensor fusion calibration system of claim 2, wherein the first suspension is provided with an adjustment mechanism;

6. The multi-sensor fusion calibration system of claim 2, wherein the camera calibration device comprises: the FCS target, the LED lamp and the calibration plate;

7. The multi-sensor fusion calibration system of claim 6, wherein the calibration plate is a grid structure containing three colors of black, white and gray.

8. The multi-sensor fusion calibration system of claim 2, wherein the laser calibration device comprises: a laser target instrument and a laser target;