CN114488047A - Vehicle sensor calibration system - Google Patents
Vehicle sensor calibration system Download PDFInfo
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- CN114488047A CN114488047A CN202210100252.6A CN202210100252A CN114488047A CN 114488047 A CN114488047 A CN 114488047A CN 202210100252 A CN202210100252 A CN 202210100252A CN 114488047 A CN114488047 A CN 114488047A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The embodiment of the invention discloses a vehicle sensor calibration system. The system comprises: the device comprises a first fixing device, a second fixing device, a first display device, a diagnostic apparatus and a corner reflector; the first fixing device and the second fixing device are used for fixing the first display device at a preset position; the diagnostic instrument is used for sending a sensor calibration instruction to the vehicle and sending a display instruction to the first display device; the first display device is used for responding to the first pattern display instruction and displaying a checkerboard pattern of a preset type corresponding to the target remote camera of the vehicle; the corner reflector is used for responding to the millimeter wave radar calibration instruction and calibrating the target millimeter wave radar of the vehicle. By operating the technical scheme provided by the embodiment of the invention, the problems that various sensors of the vehicle are respectively calibrated in different scenes, the calibration process is repeated and complicated, the vehicle production efficiency is influenced, and the personnel cost and the resource cost are increased can be solved, and the effect of improving the calibration efficiency of the vehicle sensors is realized.
Description
Technical Field
The embodiment of the invention relates to a sensor calibration technology, in particular to a vehicle sensor calibration system.
Background
With the development of vehicle technology, the accuracy requirements for sensors in vehicles are continuously increased, and therefore the requirements for sensor calibration in the vehicle production process are also continuously increased. In the prior art, various sensors are usually calibrated in different scenes, and since the calibration stations involved in the calibration process of various sensors are more, the calibration process is repeated and complicated, the vehicle production efficiency is affected, and the personnel cost and the resource cost are increased.
Disclosure of Invention
The embodiment of the invention provides a vehicle sensor calibration system, which aims to improve the calibration efficiency of a vehicle sensor.
The embodiment of the invention provides a vehicle sensor calibration system, which is characterized by comprising the following components: the device comprises a first fixing device, a second fixing device, a first display device, a diagnostic apparatus and a corner reflector; the first fixing device and the second fixing device are respectively connected with the display device; the diagnostic instrument is connected with a vehicle; the diagnostic apparatus is connected with the first display device;
the first fixing device is used for fixing at least one first display device at a first preset position, and the second fixing device is used for fixing at least one first display device at a second preset position;
the diagnostic device is used for sending a sensor calibration instruction to a vehicle and sending a display instruction to the first display device; the sensor calibration instruction comprises a millimeter wave radar calibration instruction;
the first display device is used for responding to the display instruction, displaying a checkerboard pattern of a preset type corresponding to a target remote camera of the vehicle, and calibrating the target remote camera; wherein the target remote camera comprises at least one of a front-view camera, a rear-view camera and a side-view camera;
the corner reflector is used for responding to the millimeter wave radar calibration instruction and calibrating a target millimeter wave radar of the vehicle corresponding to the corner reflector; wherein the target millimeter wave radar includes at least one of a front radar, a front angle radar, and a rear angle radar.
Optionally, the system further includes: a second display device;
the second display device is used for providing a checkerboard pattern of a preset type corresponding to the target all-round camera of the vehicle at a third preset position.
Optionally, the display instruction further includes: a second pattern display instruction;
correspondingly, the first display device at the first preset position is further configured to:
and responding to the second pattern display instruction, and displaying a checkerboard pattern of a preset type corresponding to the forward laser radar of the vehicle.
Optionally, the system further includes: a vehicle securing device;
the vehicle fixing device is used for adjusting and fixing the position of the vehicle to a preset state.
Optionally, the sensor calibration instruction further includes: calibrating instructions of the side sensors;
the system further comprises: a side sensor calibration device;
and the side sensor calibration device is used for responding to the side sensor calibration instruction and calibrating the side sensor of the vehicle.
Optionally, the diagnostic apparatus is further configured to:
acquiring a first calibration result of each vehicle sensor;
if the abnormal vehicle sensor with the first calibration result of failure exists, sending a sensor calibration instruction corresponding to the abnormal vehicle sensor to the vehicle again to obtain a second calibration result of the abnormal vehicle sensor;
and if the second calibration result is that the failure times are larger than the preset times, determining that the final calibration result of the abnormal vehicle sensor is failure.
Optionally, the diagnostic apparatus is further configured to:
and if the failed vehicle sensor with the final calibration result of failure exists, acquiring the failure reason of calibration of the failed vehicle sensor determined according to the calibration process of the failed vehicle sensor.
Optionally, the diagnostic apparatus is further configured to:
and outputting the final calibration result of each vehicle sensor.
The method comprises the steps that a first display device responds to a display instruction, a checkerboard pattern of a preset type corresponding to a target remote camera of a vehicle is displayed, and the target remote camera is calibrated; and responding to the millimeter wave radar calibration instruction through the corner reflector, and calibrating the target millimeter wave radar of the vehicle corresponding to the corner reflector. The problems that various sensors of a vehicle are respectively calibrated in different scenes, and due to the fact that calibration stations involved in the calibration process of the various sensors are more, the calibration process is repeated and complicated, the vehicle production efficiency is affected, and the personnel cost and the resource cost are increased are solved, and the effect of improving the calibration efficiency of the vehicle sensors is achieved.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle sensor calibration system according to an embodiment of the present invention;
fig. 2 is a display pattern of a first display device according to an embodiment of the invention;
fig. 3 is a display pattern of another first display device according to an embodiment of the invention;
fig. 4 is a schematic diagram of a vehicle sensor calibration station according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a vehicle sensor calibration system according to an embodiment of the present invention, where the vehicle sensor calibration system 1 includes: a first fixture 110, a second fixture 120, a first display 130, a diagnostic instrument 140, and a corner reflector 150.
The first fixing device 110 and the second fixing device 120 are respectively connected with the first display device 130; the first display device 130 may be fixed on the first fixing device 110 and/or the second fixing device 120 by welding, adhesion, and the like, the first fixing device 110 and the second fixing device 120 may be a gantry, and the first display device 130 may be an LED display screen, which is not limited in this embodiment.
The first fixing device 110 is configured to fix at least one first display device 130 at a first preset position, and the second fixing device 120 is configured to fix at least one first display device 130 at a second preset position, where the first preset position may be a position where a camera or a radar in front of the vehicle can capture content displayed in the first display device 130, and the second preset position may be a position where a camera or a radar in rear of the vehicle can capture content displayed in the first display device 130.
The diagnostic device 140 may be connected to a diagnostic port in the vehicle in a wired or wireless manner, so as to send a sensor calibration instruction to the vehicle, and may distribute a calibration task to each sensor according to the sensor calibration instruction through an automatic driving controller in the vehicle, so that each sensor sends or receives data to complete a calibration process. The diagnostic device 140 is connected to the first display device 130 in a wired or wireless manner to send a display instruction to the first display device 130, so that the first display device 130 displays a corresponding pattern.
The first display device 130 is configured to display a checkerboard pattern of a preset kind corresponding to a target remote camera of the vehicle in response to the display instruction to calibrate the target remote camera; wherein the target remote camera comprises at least one of a forward-looking camera, a rear-looking camera and a side-looking camera. Illustratively, when the front-view camera is calibrated, a calibration pattern of a pre-matched position and angle corresponding to the front-view camera is displayed.
Different black and white checkerboard patterns can be respectively displayed by using the same first display device 130 at the same position, illustratively, each checkerboard pattern at a first preset position corresponds to a front-looking camera and a side front-looking camera respectively, and when the front-looking camera is calibrated, the checkerboard pattern A is displayed; when the side front-view camera is calibrated, a checkerboard pattern B is displayed; when the front-view camera and the side-view camera are calibrated simultaneously, checkerboard patterns A and B are displayed simultaneously. The problem of prior art group accomplish to mark through the suspended black and white chess board check calibration plate of adjustable height on the portal frame, because a calibration plate often corresponds the demarcation of a camera, nevertheless it is often limited to mark the scene space, usually need change the calibration plate when accomplishing different demarcation tasks, can't satisfy the demarcation demand of present more quantity and angle camera is solved, realize the free regulation of demarcation pattern and position to and provide the effect of more stable and accurate demarcation target information.
The method for calibrating the camera by the checkerboard pattern can be any one of the methods in the prior art, and the method is not repeated here.
The corner reflector 150 is used for responding to the millimeter wave radar calibration instruction and calibrating a target millimeter wave radar of the vehicle corresponding to the corner reflector 150; wherein the target millimeter wave radar includes at least one of a front radar, a front angle radar, and a rear angle radar. That is, each corner reflector 150 corresponds to one millimeter-wave radar, and when receiving a millimeter-wave radar calibration instruction, the target millimeter-wave radar may be determined according to the millimeter-wave radar calibration instruction, and corresponding calibration may be performed. The method for calibrating the camera by the corner reflector 150 may be any one of the methods in the prior art, and is not described herein again.
In this embodiment, optionally, the system further includes: a second display device;
the second display device is used for providing a checkerboard pattern of a preset type corresponding to the target all-round camera of the vehicle at a third preset position.
The third preset position may be the ground around the vehicle, the second display device may be a display screen, or a floor on the ground or a spray pattern, and the like. Because the calibration of the all-round looking camera and the remote camera does not interfere, and because the angle of field of the all-round looking camera is low and the field of view is the ground around the vehicle body, the all-round looking camera and the remote camera can be synchronously calibrated based on the second display device at the third preset position, and the calibration efficiency is improved.
In this embodiment, optionally, the display instruction further includes: a second pattern display instruction;
accordingly, the first display device 130 at the first preset position is further configured to:
and responding to the second pattern display instruction, and displaying a checkerboard pattern of a preset type corresponding to the forward laser radar of the vehicle.
The calibration pattern information of the forward camera and the forward laser radar are different, and the calibration visual field range has interference, so that the forward camera and the forward laser radar need to be calibrated respectively. Fig. 2 is a display pattern of a first display device 130 according to a first embodiment of the present invention, and fig. 3 is another display pattern of the first display device 130 according to a first embodiment of the present invention. The first display device 130 at the first preset position may switch the displayed pattern as shown in fig. 2 to a predetermined kind of checkerboard pattern corresponding to the forward lidar of the vehicle as shown in fig. 3 in response to the second pattern display instruction after the calibration of the front-view and side-view cameras is completed, so as to implement the calibration of the forward lidar.
The calibration process of different sensors is prevented from adopting different checkerboard pattern display devices, the calibration cost is increased, the switching of display devices is avoided, and the overall calibration efficiency of the sensors is improved.
In this embodiment, optionally, the system further includes: a vehicle securing device;
and a vehicle fixing device for adjusting and fixing the position of the vehicle to a preset state.
The vehicle fixing device can comprise a front wheel straightening mechanism and a rear wheel straightening mechanism and is used for adjusting the pose of the vehicle, straightening the direction of the vehicle and locking.
The vehicle fixing device can also ensure that four-wheel positioning of a vehicle is completed before camera calibration is carried out, and the tire pressure of each tire meets the preset requirement; if the vehicle to be calibrated is an air suspension vehicle type, fixing the vehicle at the height of a standard suspension; the fixed vehicle body driving axis is horizontal to the normal line of the standard plate. And in the formal calibration process, the vehicle is ensured to be unloaded, the vehicle speed is zero, and the whole vehicle is electrified. Therefore, the sensor of the vehicle is in the preset position, and the error of the subsequent calibration process is reduced.
In this embodiment, optionally, the sensor calibration instruction further includes: calibrating a side sensor;
the system further comprises: a side sensor calibration device;
and the side sensor calibration device is used for responding to the side sensor calibration instruction and calibrating the side sensor of the vehicle.
The side sensor calibration device is used for calibrating a side sensor of a vehicle, can be correspondingly arranged according to the type of the side sensor, can be arranged on a wallboard of a side edge in a calibration scene, and can be used for isolating the calibration scene from the outside, so that the side sensor calibration device is fixed without adding a fixing device, and the calibration cost is reduced.
In this embodiment, optionally, the diagnostic device 140 is further configured to:
acquiring a first calibration result of each vehicle sensor;
if the first calibration result is the failed abnormal vehicle sensor, sending a sensor calibration instruction corresponding to the abnormal vehicle sensor to the vehicle again to obtain a second calibration result of the abnormal vehicle sensor;
and if the second calibration result is that the failure times are larger than the preset times, determining that the final calibration result of the abnormal vehicle sensor is failure.
And the first calibration result is a calibration result obtained by calibrating each sensor for the first time. The second calibration result may be a result obtained from an adjacent calibration process after the first calibration, or a result obtained from an alternate calibration process after the first calibration. For example, if the first calibration result is a failure, the sensor calibration instruction corresponding to the abnormal vehicle sensor is sent to the vehicle again to obtain a second calibration result of the abnormal vehicle sensor, and if the second calibration result is still a failure, the above procedure of sending the sensor calibration instruction corresponding to the abnormal vehicle sensor to the vehicle is repeated to obtain a next second calibration result.
And if the second calibration result is that the failure frequency is greater than the preset frequency, for example, 3 times, determining that the final calibration result of the abnormal vehicle sensor is failure. The calibration failure caused by temporary influence on the calibration process due to reasons such as unstable data transmission and the like is avoided, and therefore the accuracy of sensor calibration is improved.
In this embodiment, optionally, the diagnostic apparatus 140 is further configured to:
and if the faulty vehicle sensor with the final calibration result of failure exists, acquiring the reason for the calibration failure of the faulty vehicle sensor determined according to the calibration process of the faulty vehicle sensor.
If there is a faulty vehicle sensor whose final calibration result is a failure, the analyzer may determine data when an error occurs in the calibration flow based on the calibration instruction flow of each sensor, determine the cause of the calibration failure according to the data, and return the cause of the calibration failure to the diagnostic instrument 140, where the cause of the calibration failure may be that the sensor is blocked, the sensor is shifted in position, or the like.
The calibration failure reason is obtained, so that corresponding adjustment can be conveniently and automatically carried out according to the calibration failure reason in the follow-up process or the system, the follow-up calibration process is carried out, and the calibration efficiency of the sensor is improved.
In this embodiment, optionally, the diagnostic device 140 is further configured to:
and outputting the final calibration result of each vehicle sensor.
And the final calibration result is a result finally obtained after the vehicle sensor passes through a preset calibration process. By outputting the final calibration result, the final calibration result can be output to a display device for viewing by a user, and can also be directly output to a data storage device for subsequent data analysis.
According to the technical scheme provided by the embodiment, the calibration devices of the sensors of different types are integrated in the same calibration system, and the calibration processes of the sensors of different types are combined into the same process according to different sensor calibration instructions sent by the diagnostic instrument to the vehicle, so that the sensors are calibrated synchronously or in a time-sharing manner, the physical space is saved, the calibration time is shortened, and the effect of improving the calibration efficiency of the vehicle sensors is achieved.
Example two
In order to make the technical scheme more clear to the technical personnel, the application also provides a specific implementation mode.
Fig. 4 is a schematic diagram of a vehicle sensor calibration station according to a second embodiment of the present invention. The vehicle sensor calibration system described in the first embodiment of the invention is applied to the work station, so that the calibration process described later can be performed in the calibration work station.
As shown in fig. 4, the calibration station is a rectangular station, and the specific size of the calibration station can be matched with a vehicle model platform, and the floor in the calibration station is horizontal. Set up vehicle fixing device on the workstation floor, include: the front wheel straightening mechanism and the rear wheel straightening mechanism are used for adjusting the pose of the vehicle, straightening the orientation of the vehicle and locking, and are convenient for reducing the calibration error. The floor on the periphery of the aligning mechanism is provided with a preset number of black and white chessboard grid calibration plates (six positions in the figure), the black and white chessboard grid calibration plates can be floor patterns and are at the height level with the floor, and the distribution positions of the black and white chessboard grids of the floor meet the detection direction of the vehicle all-round camera.
And the isolation of the work station from the outside is realized by the short wallboards at two side edges of the work station in the Y direction. Because the current intelligent driving vehicle is not carried with the enhanced side sensor, the short wallboard can be reserved as the position of the side sensor calibration device, and the subsequent expansion is convenient.
The method is characterized in that 2 transverse LED display screens are adopted as a first display device and fixedly arranged on a first fixing device and a second fixing device of a work station, wherein the first fixing device is a front portal frame, the second fixing device is a rear portal frame, and the LED display screens are ensured to be horizontally fixed. Aiming at the front-view camera, the rear-view camera, the side-view camera and the laser radar, the checkerboard patterns with matched positions and angles in advance can be displayed on the LED screen, so that the calibration patterns and the positions thereof can be freely adjusted, and more stable and accurate calibration target information can be provided.
In the figure, angular reflectors are respectively arranged at five positions, namely an angular point ABCD of a work station and an E position below a front portal frame, the height from the ground is about 30cm (the height can be adjusted according to different vehicle types), the orientation of each angular reflector corresponds to a radar detection center of a vehicle corner, and the adjustment can be carried out through a corner reverse support. The device can support at most five millimeter wave radars on a vehicle to carry out calibration, and the millimeter wave radars correspond to a front radar, a front angle radar and a rear angle radar respectively.
Taking a certain vehicle carrying 5 millimeter-wave radars, 4 all-round cameras, 4 side-view cameras, 1 front-view camera, 1 rear-view camera and 1 forward laser radar as an example, the calibration process of the vehicle sensor calibration station comprises the following steps:
starting calibration, and connecting the vehicle with a factory diagnostic instrument;
the vehicle position posture is adjusted and fixed by the aligning mechanism;
the diagnostic instrument sends a corresponding calibration instruction to realize the synchronous calibration of each sensor:
the front LED screen respectively displays three groups of black and white checkerboard patterns, which respectively correspond to the calibration of the front-looking cameras and the calibration of two side front-looking cameras; the rear LED screen displays the same front LED screen, and the rear LED screen corresponds to the calibration of the rear-view camera and the calibration of the rear-view cameras on two sides.
Because the calibration of the all-round camera and the remote camera does not interfere, and because the angle of view of the all-round camera is low and the field of view is the ground around the vehicle body, the all-round camera can be synchronously calibrated based on the black and white grid floor around the vehicle body in the work station.
The millimeter wave radar can also realize synchronous calibration, and five radars can be calibrated respectively through corner reflectors arranged at the corner points and in front of the work station.
Because the calibration pattern information of the forward camera and the forward laser radar are different, and the calibration visual field range has interference, the forward camera and the forward laser radar need to be calibrated respectively. After the calibration of the front-view camera and the side-view camera is finished, the calibration patterns can be switched by the front LED screen.
If the calibration process of any sensor fails, the calibration process is repeated for a preset number of times, for example, three times, and if the calibration process still fails, the calibration process is returned to the diagnostic apparatus based on the calibration instruction process of each sensor. And if the calibration of each sensor is successful, returning a calibration result to the diagnostic instrument to finish the calibration.
Based on the calibration process of the vehicle sensor calibration work station, the sensor calibration processes of different types can be integrated into the same process for synchronization or time-sharing calibration, the calibration work stations of the sensors of different types are built in the same work station, and the saving of physical space and the reduction of calibration time are realized. Meanwhile, the short wallboards on the two sides can be used for reservation treatment, and the expansion and the upgrade of subsequent calibration equipment of the side-edge-enhanced sensor can be supported.
The calibration requirements of a front-view camera, a rear-view camera, a side-view camera, a look-around camera, a millimeter wave radar at each position, a laser radar and the like at the same time or in different time can be met. The current situations that different calibration work stations are needed by respective sensors are integrated into one place, and integrated calibration is achieved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A vehicle sensor calibration system, comprising: the device comprises a first fixing device, a second fixing device, a first display device, a diagnostic instrument and a corner reflector; the first fixing device and the second fixing device are respectively connected with the display device; the diagnostic instrument is connected with a vehicle; the diagnostic instrument is connected with the first display device;
the first fixing device is used for fixing at least one first display device at a first preset position, and the second fixing device is used for fixing at least one first display device at a second preset position;
the diagnostic instrument is used for sending a sensor calibration instruction to a vehicle and sending a display instruction to the first display device; the sensor calibration instruction comprises a millimeter wave radar calibration instruction; the display instructions include: a first pattern display instruction;
the first display device is used for responding to the first pattern display instruction and displaying a checkerboard pattern of a preset type corresponding to a target remote camera of a vehicle so as to calibrate the target remote camera; wherein the target remote camera comprises at least one of a front-view camera, a rear-view camera and a side-view camera;
the corner reflector is used for responding to the millimeter wave radar calibration instruction and calibrating a target millimeter wave radar of the vehicle corresponding to the corner reflector; wherein the target millimeter wave radar includes at least one of a front radar, a front angle radar, and a rear angle radar.
2. The system of claim 1, further comprising: a second display device;
the second display device is used for providing a checkerboard pattern of a preset type corresponding to the target all-round camera of the vehicle at a third preset position.
3. The system of claim 1, wherein the display instructions further comprise: a second pattern display instruction;
correspondingly, the first display device at the first preset position is further configured to:
and responding to the second pattern display instruction, and displaying a checkerboard pattern of a preset type corresponding to the forward laser radar of the vehicle.
4. The system of claim 1, further comprising: a vehicle securing device;
the vehicle fixing device is used for adjusting and fixing the position of the vehicle to a preset state.
5. The system of claim 1, wherein the sensor calibration instructions further comprise: calibrating a side sensor;
the system further comprises: a side sensor calibration device;
and the side sensor calibration device is used for responding to the side sensor calibration instruction and calibrating the side sensor of the vehicle.
6. The system of claim 1, wherein the diagnostic meter is further configured to:
acquiring a first calibration result of each vehicle sensor;
if the abnormal vehicle sensor with the first calibration result of failure exists, sending a sensor calibration instruction corresponding to the abnormal vehicle sensor to the vehicle again to obtain a second calibration result of the abnormal vehicle sensor;
and if the second calibration result is that the failure times are larger than the preset times, determining that the final calibration result of the abnormal vehicle sensor is failure.
7. The system of claim 6, wherein the diagnostic meter is further configured to:
and if the failed vehicle sensor with the final calibration result of failure exists, acquiring the failure reason of calibration of the failed vehicle sensor determined according to the calibration process of the failed vehicle sensor.
8. The system of claim 6, wherein the diagnostic meter is further configured to:
and outputting the final calibration result of each vehicle sensor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116068538A (en) * | 2023-04-06 | 2023-05-05 | 中汽研（天津）汽车工程研究院有限公司 | Adjustable calibration system and method for batch type vehicle laser radar |
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