CN114442073B - Laser radar calibration method and device, vehicle and storage medium - Google Patents
Laser radar calibration method and device, vehicle and storage medium Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The application discloses a laser radar calibration method, a laser radar calibration device, a vehicle and a storage medium, wherein the method comprises the steps of obtaining state information of the vehicle, wherein the state information comprises the speed of the vehicle and the yaw rate of the vehicle; if the state information accords with a first preset condition, calibrating a pitch angle and a roll angle of the laser radar; if the state information accords with a second preset condition, calibrating the yaw angle of the laser radar, wherein the yaw angle speed corresponding to the second preset condition is smaller than the yaw angle speed corresponding to the first preset condition. According to the method, the calibration of the laser radar is constrained through the first preset condition and the second preset condition, so that the angle information of the laser radar obtained through measurement is more accurate, and the accuracy of the laser radar calibration can be improved.
Description
Technical Field
The present application relates to the technical field of lidar, and in particular, to a method and apparatus for calibrating a lidar, a vehicle, and a storage medium.
Background
At present, the laser radar is a remote sensing means with low cost, good effect and wide application range, is applied to the aspect of automatic driving automobiles, and has the advantages of high resolution, strong active interference resistance, good low-altitude detection performance, light weight, flexibility and the like. The operations such as obstacle avoidance and the like are realized based on the laser radar, and usually, the laser radar acquires coordinate data of an external obstacle, and the coordinate data of the external obstacle in a vehicle coordinate system is obtained according to the position of the laser radar in the vehicle coordinate system. In this case, in order to ensure accuracy of the external obstacle coordinate information acquired by the vehicle, accuracy of the position coordinates of the external obstacle acquired by the laser radar is particularly important.
Disclosure of Invention
In view of the above problems, the present application provides a method, an apparatus, a vehicle and a storage medium for calibrating a laser radar, so as to achieve self-calibration of the laser radar.
In a first aspect, an embodiment of the present application provides a method for calibrating a laser radar, where the method includes: acquiring state information of the vehicle, wherein the state information comprises the speed of the vehicle and the yaw rate of the vehicle; if the state information accords with a first preset condition, calibrating a pitch angle and a roll angle of the laser radar, wherein the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is larger than a first accuracy; if the state information accords with a second preset condition, calibrating the yaw angle of the laser radar, wherein the second preset condition is set according to the state information when the measurement accuracy of the yaw angle of the laser radar of the vehicle is larger than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition.
In a second aspect, an embodiment of the present application provides a calibration device for a laser radar, where the device includes: the system comprises a state acquisition module, a first calibration module and a second calibration module. The state acquisition module is used for acquiring state information of the vehicle, wherein the state information comprises the speed of the vehicle and the yaw rate of the vehicle; the first calibration module is used for calibrating the pitch angle and the roll angle of the laser radar if the state information accords with a first preset condition, and the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than a first accuracy; the second calibration module is configured to calibrate a yaw angle of the laser radar if the state information meets a second preset condition, where the second preset condition is set according to the state information when the measurement accuracy of the yaw angle of the laser radar of the vehicle is greater than a second accuracy, and a yaw rate corresponding to the second preset condition is less than a yaw rate corresponding to the first preset condition.
In a third aspect, an embodiment of the present application provides a vehicle including: a body main body, a lidar, one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more application programs configured to perform the method for calibrating a lidar provided in the first aspect above.
In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, where a program code is stored, where the program code may be called by a processor to perform the method for calibrating a lidar provided in the first aspect.
According to the scheme provided by the application, the state information of the vehicle is obtained, and the state information comprises the speed of the vehicle and the yaw rate of the vehicle; if the state information accords with a first preset condition, calibrating a pitch angle and a roll angle of the laser radar, wherein the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is larger than a first accuracy; if the state information accords with a second preset condition, calibrating the yaw angle of the laser radar, wherein the second preset condition is set according to the state information when the measurement accuracy of the yaw angle of the laser radar of the vehicle is larger than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition. According to the method, the parameters corresponding to the laser radar can be calibrated under the condition that the vehicle state meets the corresponding conditions, so that the angle information of the laser radar obtained through measurement is more accurate, and the accuracy of laser radar calibration can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a calibration method of a laser radar according to an embodiment of the present application.
FIG. 2 shows a schematic diagram of a lidar coordinate system and a standard coordinate system in an embodiment of the application.
Fig. 3 is a schematic flow chart of a calibration method of a lidar according to another embodiment of the present application.
Fig. 4 is a schematic flow chart of step S230 in another embodiment of the present application.
Fig. 5 is a schematic flow chart of step S232 in another embodiment of the present application.
Fig. 6 is a schematic flow chart of step S260 in another embodiment of the present application.
Fig. 7 is a schematic diagram of a laser radar acquiring yaw angle according to another embodiment of the present application.
Fig. 8 is a schematic diagram of a laser radar acquiring yaw angle according to another embodiment of the present application.
Fig. 9 shows a schematic flow chart of laser radar calibration in an embodiment of the application.
Fig. 10 shows a block diagram of a calibration device of a lidar according to an embodiment of the present application.
Fig. 11 shows a block diagram of a vehicle according to an embodiment of the present application.
Fig. 12 shows a block diagram of a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present application with reference to the accompanying drawings.
Laser radar (LASER DETECTING AND RANGING, lidar), i.e. laser detection and ranging, determines the distance by transmitting and receiving laser beams, measuring the time and phase differences of laser signals, measuring angles by horizontal rotation scanning, establishing a two-dimensional polar coordinate system according to the two parameters, and acquiring three-dimensional height information by acquiring signals of different pitching angles. The high-frequency laser can acquire a large amount (about 150 tens of thousands) of positional point information (referred to as point cloud) in one second, and perform three-dimensional modeling based on the information. The laser radar has the advantages of high resolution, strong active interference resistance, good low-altitude detection performance, light weight, flexibility and the like, and is widely applied to automatic driving automobiles.
Lidar in autonomous vehicles is usually fixed in its position in the vehicle coordinate system already at the time of vehicle installation, i.e. the coordinate data of the lidar in the vehicle coordinate system is already fixed. The laser radar acquires point cloud information of the environment, coordinate data of surrounding objects in a laser radar coordinate system can be obtained, and the vehicle processor can convert the coordinate data of the surrounding objects in the vehicle coordinate system based on the coordinate data acquired by the laser radar and the coordinate data of the laser radar in the vehicle coordinate system, so that functions of obstacle avoidance and the like of the vehicle are realized based on the coordinate data. Therefore, in order for the vehicle to acquire the coordinate data of the correct surrounding object, the laser radar needs to be calibrated so that the coordinate data of the surrounding object acquired by the vehicle in the laser radar coordinate system is correct.
Aiming at the problems, the inventor provides a calibration method, a calibration device, a vehicle and a storage medium of the laser radar. The specific calibration method of the laser radar is described in detail in the following embodiments.
The method for calibrating the laser radar provided by the embodiment of the application is specifically described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a flow chart illustrating a calibration method of a lidar according to an embodiment of the present application. The following will describe the flow chart shown in fig. 1 in detail, and the calibration method of the laser radar specifically includes the following steps:
Step S110: status information of the vehicle is acquired, wherein the status information comprises the speed of the vehicle and the yaw rate of the vehicle.
In the embodiment of the application, in order to ensure the accuracy of the calibration of the laser radar, the vehicle reduces errors, and can enable the laser radar to enter a self-calibration state when the running speed, the running direction and the like of the vehicle meet certain conditions, and the self-calibration of the laser radar can be more accurate based on the acquired state information of the vehicle. Therefore, the vehicle can acquire the current state information including the running speed of the vehicle and the yaw rate of the vehicle to judge whether the vehicle meets the condition of entering the calibration state. The vehicle can acquire the yaw rate of the vehicle through the laser radar so as to judge whether the running direction of the vehicle is stable or not; the vehicle also needs to maintain the running speed above a certain value to ensure the accuracy of the calibration of the laser radar.
It is understood that the yaw rate of the vehicle is a value obtained by differentiating the yaw angle acquired by the lidar with respect to time, and that the use of the yaw rate instead of the yaw angle to confirm the traveling direction of the vehicle can eliminate errors in the yaw angle due to possible bias of the lidar. The magnitude of the yaw rate may be used to indicate a change rate of the vehicle forward direction, and if the yaw rate is zero, it may be understood that the vehicle does not change the vehicle forward direction. Even if there is a bias in the lidar itself at this time, the yaw rate is zero as long as the vehicle does not change its direction of travel.
The calibration of the laser radar by the vehicle comprises the calibration of three angle information of pitch angle, roll angle and yaw angle of the laser radar, so that the three angles corresponding to the calibrated laser radar coincide with the standard angle, even if the coordinate system of the laser radar coincides with the standard coordinate system. It can be understood that the standard coordinate system, that is, the coordinate system in which the angles do not deviate, can be converted into the coordinate information of the external obstacle in the vehicle coordinate system based on the coordinate information of the external obstacle in the standard coordinate system, and then the operations such as obstacle avoidance or navigation can be performed based on the coordinate information. The calibrated laser radar can acquire coordinate information of objects around the vehicle in a laser radar coordinate system, and the vehicle can convert the measured coordinate information into the coordinate information in the vehicle coordinate system based on the position of the laser radar in the vehicle coordinate system, so that operations such as obstacle recognition, direction recognition and the like are performed. If the coordinate system of the laser radar deviates from the standard coordinate system, the coordinate information of surrounding objects identified by the laser radar does not accord with the actual coordinate information, and the vehicle has great potential safety hazards in navigation or obstacle avoidance operation based on the wrong coordinate information, so that the vehicle needs to self-calibrate the laser radar under the condition that the state information meets the preset condition so as to ensure the accuracy of the laser radar.
In some embodiments, as shown in fig. 2, the yaw angle of the lidar may refer to an angle between a traveling direction of the vehicle in a horizontal plane and a straight line where an X axis in a lidar coordinate system is located, that is, an angle between the X axis in the lidar coordinate system and an XOZ plane in the vehicle coordinate system, and the pitch angle may be an angle between a straight line where the X axis in the lidar coordinate system is located and an XOY plane in the vehicle coordinate system, and the roll angle may be an angle between a Y axis in the lidar coordinate system and an XOY plane in the vehicle coordinate system. If the laser radar has no angle deviation, namely the laser radar coordinate system OX ' Y ' Z ' coincides with the standard coordinate system OXYZ, the yaw angle, the pitch angle and the roll angle corresponding to the laser radar are all zero. Of course, the definition of yaw, pitch and roll angles for lidar may be different, but the meaning of their characterization in the coordinate system should be the same.
In some embodiments, the vehicle may obtain the current vehicle speed by obtaining the wheel speed of the vehicle, through a built-in formula calculation. The sensor in which the wheel rotation speed is acquired may be a hall sensor.
Step S120: if the state information accords with a first preset condition, calibrating a pitch angle and a roll angle of the laser radar, wherein the first preset condition is set according to the state information when the measurement accuracy of the pitch angle and the roll angle of the laser radar of the vehicle is greater than a first accuracy.
In the embodiment of the application, the first preset condition is a condition for judging whether the current state of the vehicle can meet the accuracy of calibrating the roll angle and the pitch angle of the laser radar, namely if the current state information of the vehicle meets the first preset condition, the accuracy of calibrating the roll angle and the pitch angle of the laser radar is higher by acquiring the pitch angle and the roll angle of the laser radar. The defining of the state information of the vehicle in the first preset condition may be obtained through an actual experiment, specifically, in the experiment, when the accuracy of measuring the pitch angle and the roll angle of the lidar is greater than the first accuracy, the state information corresponding to the vehicle at this time may be used as the first preset condition. When the laser radar of the vehicle is required to be calibrated, the state information of the vehicle accords with a first preset condition, and further the calibration of the pitch angle and the roll angle has higher accuracy. The first accuracy can be preset, and the higher the first accuracy is, the more accurate the calibration of the pitch angle and the roll angle of the laser radar is. The first preset condition can limit the current running speed, yaw rate and other states of the vehicle, namely, only if the current running speed and yaw rate of the vehicle meet the first preset condition, the result of calibrating the pitch angle and roll angle of the laser radar can be accurate. The pitch angle and the roll angle of the laser radar can be calibrated at the same time by the vehicle, namely, the method for acquiring the pitch angle and the roll angle of the laser radar by the vehicle is the same and different from the method for acquiring the yaw angle of the laser radar by the vehicle. Therefore, if the state information of the vehicle meets the first preset condition, the vehicle can calibrate the laser radar based on the pitch angle and the roll angle acquired by the laser radar.
From the above analysis, if there is no offset in the lidar, that is, the lidar coordinate system coincides with the standard coordinate system, the pitch angle and roll angle corresponding to the measured lidar should be zero. If the pitch angle or roll angle is not zero, the angle information of the laser radar can be compensated based on the measured angle. Referring to fig. 2, the standard coordinate system is the xyz coordinate system, and the laser radar coordinate system with deviation is the OX ' Y ' Z ' coordinate system. Assuming that the pitch angle of the laser radar is 5 degrees, the condition that the laser radar coordinate system is not coincident with the standard coordinate system and an included angle of 5 degrees is formed between the XOY plane in the laser radar coordinate system and the XOY plane in the standard coordinate system is indicated, and the angle compensation can be performed on the laser radar at the moment so that the XOY plane in the laser radar coordinate system is coincident with the XOY plane in the standard coordinate system.
In some embodiments, the first preset condition may not only limit the state information of the vehicle, that is, the running speed and the yaw rate, but also limit the current environment of the vehicle, including the flatness of the current road section, the distance from the front vehicle, the intensity of light in the environment, and the like, so that the vehicle can calibrate the laser radar more accurately. The vehicle can acquire brightness information in the environment through the vehicle-mounted sensor, and can also acquire the distance between the vehicle and the front vehicle through the vehicle-mounted distance sensor and the like.
Step S130: if the state information accords with a second preset condition, calibrating the yaw angle of the laser radar, wherein the second preset condition is set according to the state information when the measurement accuracy of the yaw angle of the laser radar of the vehicle is larger than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition.
In the embodiment of the application, the second preset condition is used for judging whether the current state of the vehicle meets the condition for calibrating the yaw angle of the laser radar, wherein the limitation of the yaw angle of the vehicle in the second preset condition is stricter than the limitation of the yaw angle of the vehicle in the first preset condition, namely the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition. The limitation of the state information of the vehicle in the second preset condition is similar to that of the first preset condition, and when the accuracy of the measurement of the yaw angle of the laser radar is larger than the second accuracy in the experiment, the state information corresponding to the vehicle at the moment can be used as the second preset condition. When the vehicle needs to calibrate the laser radar, the state information of the laser radar accords with a second preset condition, so that the calibration of the yaw angle can be higher in accuracy. It can be appreciated that the second accuracy rate may be preset, and the higher the second accuracy rate, the more accurate the calibration of the yaw angle of the lidar. If the state information of the vehicle meets the second preset condition, the vehicle can calibrate the laser radar based on the measured yaw angle of the laser radar. It can be understood that if the state information of the vehicle meets the second preset condition, the state information of the vehicle at this time necessarily meets the first preset condition, so that the vehicle can calibrate not only the yaw angle of the laser radar, but also the pitch angle and the roll angle of the laser radar.
From the above analysis, the yaw angle is an angle between an X axis in a laser radar coordinate system and a YOZ plane in a vehicle coordinate system, where the laser radar may use an angle between a traveling direction of the vehicle and a central axis of the laser radar as a yaw angle corresponding to the angle. In actual operation, the laser radar obtains the running direction of the vehicle by obtaining the lane line vector, that is, the laser radar takes the lane line vector as the running direction of the vehicle. It will be appreciated that such substitution must be made with the vehicle travel direction fully coincident with the lane line direction. Thus, the vehicle can confirm whether the traveling direction of the vehicle coincides with the lane line vector based on the magnitude of the yaw rate in the state information thereof, and the smaller the yaw rate, the smaller the degree of change in the traveling direction of the vehicle, and the more accurate the lane line vector is as the traveling direction of the vehicle.
It can be understood that if the yaw rate of the vehicle is greater at a certain moment, this indicates that the running direction of the vehicle is changed at the moment, and if the obtained lane line vector is taken as the running direction of the vehicle, the obtained lane line vector is not replaced, and an included angle is necessarily formed between the central axis of the laser radar and the lane line vector at this moment, and the included angle is not necessarily caused by the offset of the laser radar. If the yaw rate corresponding to the vehicle is very small, the vehicle can be regarded as straight running, and the lane line vector is taken as the running direction of the vehicle, so that the vehicle has high accuracy, and if the yaw angle measured by the laser radar is not zero, the angle is necessarily caused by the bias of the laser radar. Therefore, when the state information of the vehicle meets the second preset condition, the laser radar can be calibrated based on the obtained yaw angle.
In some embodiments, the vehicle may acquire a yaw angle mean value of the laser radar for a period of time when the state information of the vehicle meets the second preset condition, and calibrate the laser radar based on the mean value. Once the running direction of the vehicle deviates at any moment in the duration, the distance between the vehicle and the lane line changes, namely the yaw rate corresponding to the vehicle changes greatly, so that the yaw rate data of the laser radar obtained in the duration is invalid, the timing of the vehicle state information meeting the second preset condition can be restarted, when the duration time of the vehicle state information meeting the second preset condition meets the preset duration, the yaw rate average value of the laser radar obtained in the duration time can be used as an effective yaw angle, and the vehicle can calibrate the laser radar based on the effective yaw angle.
According to the calibration method of the laser radar, the state information such as the speed and the yaw rate of the vehicle is obtained, if the state information accords with the first preset condition, the pitch angle and the roll angle of the laser radar are calibrated, and if the state information accords with the second preset condition, the yaw rate of the laser radar is calibrated, wherein the yaw rate in the second preset condition is smaller than the yaw rate in the first preset condition. Under the condition that the vehicle state meets the corresponding conditions, the parameters corresponding to the laser radar are calibrated, so that the angle information of the laser radar obtained through measurement is more accurate, and the accuracy of laser radar calibration can be improved.
Referring to fig. 3, fig. 3 is a flow chart illustrating a calibration method of a lidar according to another embodiment of the present application. The following will describe the flow chart shown in fig. 3 in detail, and the calibration method of the laser radar specifically may include the following steps:
step S210: status information of the vehicle is acquired, wherein the status information comprises the speed of the vehicle and the yaw rate of the vehicle.
In the embodiment of the present application, step S210 may refer to the content of other embodiments, which is not described herein.
In some embodiments, before the vehicle acquires the state information, the vehicle may further determine the current environment of the vehicle, and confirm whether the surrounding environment is suitable for self-calibrating the laser radar. If the vehicle confirms that the laser radar can be self-calibrated, the vehicle can send a calibration signal to the laser radar for indicating the laser radar to enter a calibration state, wherein the calibration state means that the angle information of the laser radar can be adjusted.
In some embodiments, the vehicle may acquire information about the environment in which the vehicle is located through a series of sensors to determine whether the lidar is currently capable of performing a calibration state. Specifically, it can be confirmed that the distance is kept within a suitable range by measuring the distance from the surrounding vehicle; the brightness sensor can also be used for acquiring whether the brightness in the current environment is enough to support entering the calibration state. If the surrounding environment information acquired by the sensor of the vehicle meets the preset condition, the laser radar can automatically enter a calibration state. And then judging whether the first preset condition and the second preset condition are met or not according to the state information of the vehicle, and calibrating the angle information of the laser radar.
In some embodiments, the vehicle may acquire a calibration signal through an externally connected calibration tool, so as to instruct the laser radar to enter a calibration state, and the calibration tool may send the calibration signal to the vehicle according to the operation of the user. At this time, the laser radar can measure the yaw rate of the vehicle, so that the vehicle can judge whether the state information of the vehicle meets the preset condition.
Step S220: if the state information accords with the first preset condition, acquiring a pitch angle and a roll angle of the laser radar, and acquiring the duration time of the state information accords with the first preset condition.
In the embodiment of the application, the running speed of the vehicle can be limited in a range of more than or equal to 50 kilometers per hour (km/h) under a first preset condition, so as to avoid inaccurate measurement of the pitch angle and the roll angle of the laser radar caused by too small speed; the yaw rate of the vehicle may also be limited to a range of less than 2 degrees per second (deg/s) to avoid inaccurate measurement of the pitch angle and roll angle of the lidar as the vehicle changes direction of travel, where a smaller yaw rate represents a more stable travel of the vehicle and more accurate angle information is measured. Namely, when the state information of the vehicle accords with a first preset condition, the measurement accuracy of the pitch angle and the roll angle of the laser radar is larger than the first accuracy, the laser radar can be calibrated based on the pitch angle and the roll angle measured at the moment, and the calibration result has larger accuracy.
Step S230: and if the duration time is longer than or equal to a first time length, calibrating the pitch angle and the roll angle of the laser radar based on the acquired pitch angle and roll angle, wherein the first time length is a continuous time length for determining that the pitch angle and the roll angle are effective.
In the embodiment of the application, a map of Zhang Dianyun can be obtained by the laser radar every second, each point cloud corresponds to the state information of the vehicle, namely the running speed and the yaw rate of the vehicle, and if the vehicle state information corresponding to the point cloud meets a first preset condition, the point cloud is regarded as an effective point cloud. If the vehicle state information corresponding to each point cloud acquired by the laser radar in a period of time accords with a first preset condition, the vehicle can consider the period of time as an effective period of time, determine a pitch angle and a roll angle corresponding to the effective period of time as effective, and calibrate the laser radar based on the pitch angle and the roll angle of the laser radar acquired by the point cloud data in the period of time. Therefore, the vehicle can acquire the duration of which the state information accords with the first preset condition, and if the duration is longer than or equal to the first time length, the vehicle can calibrate the laser radar based on the pitch angle and the roll angle of the laser radar acquired in the duration. If the duration time of the vehicle state information meeting the first preset condition is longer than or equal to the first time length, the running state of the vehicle is stable, and the pitch angle and the roll angle of the laser radar can be calibrated based on the acquired pitch angle and roll angle.
In some embodiments, the vehicle may acquire multiple sets of angle information of the lidar in the duration, and when the lidar is calibrated, the angle information may be screened, or an angle average value may be calculated, and the lidar may be updated based on the finally acquired angle information, so as to effectively reduce errors.
In some embodiments, as shown in fig. 4, calibrating the pitch angle and roll angle of the lidar in step S230 may include the following steps:
step S231: based on a ground detection algorithm, a ground normal vector is obtained.
In the embodiment of the application, the method for acquiring the pitch angle and the roll angle of the laser radar can be obtained by converting the acquired ground normal vector. The laser radar can acquire a ground normal vector of a current vehicle passing through a road surface based on a ground detection algorithm, namely based on plane fitting ground detection, and is used for acquiring a pitch angle and a roll angle of the laser radar based on the ground normal vector. It can be understood that if there is an angular deviation between the lidar, that is, there is a deviation between the lidar coordinate system and the standard coordinate system, there is an angular deviation between the ground normal vector acquired by the lidar and the actual standard normal vector, and the vehicle may acquire the angular deviation to convert the angular deviation into the pitch angle and the roll angle of the lidar, so as to calibrate the lidar.
Step S232: and calibrating the pitch angle and the roll angle of the laser radar based on the ground normal vector.
In the embodiment of the application, after the ground normal vector is acquired by the vehicle, the ground normal vector can be converted into the pitch angle and the roll angle corresponding to the laser radar, and the laser radar is calibrated based on the acquired pitch angle and roll angle. It can be understood that if the laser radar has offset, and the pitch angle or roll angle of the laser radar deviates from the standard value, an included angle is necessarily formed between the obtained ground normal vector and the normal vector which should be obtained actually, and the vehicle can calibrate the pitch angle and roll angle of the laser radar based on the ground normal vector. The ground normal vector can only calibrate the pitch angle and the roll angle of the laser radar, but cannot calibrate the yaw angle of the laser radar. That is, if there is a bias in the yaw angle of the lidar, the bias is not reflected in the ground normal vector acquired by the lidar.
In some embodiments, the vehicle may consider the standard normal vector (N x,Ny,Nz) as a normal vector in the horizontal plane, i.e., vector (0, 1), based on the ground normal vector (N x′,Ny′,Nz') obtained and the following formula, obtain the angle data of pitch (pitch) and roll (roll) of the lidar:
Nx′＝sin(pitch(rad))
Ny′＝-sin(roll(rad))×cos(pitch(rad))
Nz′＝cos(roll(rad))×cos(pitch(rad))
In some embodiments, as shown in fig. 5, calibrating the pitch angle and roll angle of the lidar based on the ground normal vector in step S232 may include the following steps:
Step S2321: and acquiring an included angle between the ground normal vector and a standard normal vector as a first included angle, wherein the standard normal vector is a ground normal vector in a preset state, and the preset state is that the ground normal vector is parallel to a horizontal plane normal vector.
In some embodiments, after the vehicle obtains the ground normal vector measured by the lidar, the angle between the ground normal vector and the standard normal vector may be taken as the first angle. The standard normal vector is a ground normal vector in a preset state, that is, a normal vector of the ground when the ground is parallel to the horizontal plane, and the standard normal vector can be understood as a vector parallel to the horizontal plane normal vector. In the coordinate system, the normal vector may be a normal vector corresponding to the XOY plane in the standard coordinate system, i.e. vector (0, 1), and the standard coordinate system is a coordinate system corresponding to the laser radar in the absence of offset. The vehicle can use the included angle between the ground normal vector and the standard normal vector as a first included angle based on the standard normal vector, and is used for calibrating the angle information of the laser radar based on the first included angle. It can be understood that if the laser radar itself has offset, that is, the coordinate system of the laser radar does not coincide with the standard coordinate system, the first included angle acquired by the vehicle is not zero, and at this time, the first included angle can be converted into a pitch angle and a roll angle corresponding to the laser radar, so as to compensate the pitch angle and the roll angle of the laser radar.
Step S2322: and calibrating the pitch angle and the roll angle of the laser radar based on the first included angle.
In some embodiments, after the first included angle is obtained, the vehicle may convert the first included angle into a pitch angle and a roll angle corresponding to the lidar, and according to the analysis of the foregoing embodiment, may convert the first included angle into a pitch angle between an X axis in the lidar coordinate system and an XOY plane in the standard coordinate system, and a roll angle between a Y axis in the lidar coordinate system and an XOY plane in the standard coordinate system. If the first included angle is not zero, the pitch angle or the roll angle corresponding to the laser radar is not zero, namely, the pitch angle or the roll angle corresponding to the laser radar has deviation. At this time, the pitch angle and the roll angle obtained based on the first included angle are offset angles existing in the laser radar, so that the vehicle can compensate the laser radar based on the pitch angle and the roll angle, and the ground normal vector in the environment obtained by the compensated laser radar can be overlapped with the standard normal vector, thereby eliminating errors generated by laser radar offset.
Step S240: and if the duration is greater than or equal to a second time length, determining that the calibration is completed, wherein the second time length is greater than the first time length, and the second time length is a continuous time length for determining that the calibration is effective.
In the embodiment of the application, in order to ensure that the vehicle can calibrate the laser radar accurately when the duration is longer than or equal to the first time length, the vehicle can calibrate the laser radar based on the acquired pitch angle and roll angle, and after calibrating the pitch angle and roll angle of the laser radar once, the vehicle can repeat the calibration steps, namely, the steps of acquiring the pitch angle and roll angle when the duration is longer than or equal to the first time length and calibrating the laser radar until the total length of the duration is longer than or equal to the second time length, and the calibration of the pitch angle and roll angle of the laser radar can be regarded as effective calibration at the moment. It is apparent that the second time period is longer than the first time period. The repeated steps can further improve the accuracy of self-calibration of the laser radar, and can effectively avoid the situation that errors occur when the pitch angle and the roll angle of the laser radar are calibrated at any time.
Specifically, each pair of the laser radars is calibrated once, the duration of the state information of the vehicle meeting the first preset condition is necessarily greater than or equal to the first time length, and the vehicle can take the angle information of the laser radars acquired in the first time length as a set of effective data to self-calibrate the laser radars based on the set of effective data. Meanwhile, the vehicle can acquire a plurality of groups of effective data, the duration time corresponding to each group of effective data can be discontinuous, and the vehicle can calibrate the laser radar for a plurality of times based on the plurality of groups of effective data so as to reduce errors and improve the accuracy of self calibration of the laser radar. If the total length of the duration time corresponding to the plurality of groups of effective data is larger than the second time length, the vehicle can determine that the calibration of the pitch angle and the roll angle of the laser radar is completed.
Step S250: and if the state information accords with a second preset condition, acquiring the yaw angle of the laser radar, and acquiring the duration time of the state information in accordance with the second preset condition.
In the embodiment of the application, the running speed of the vehicle can be limited in a range of more than or equal to 50 kilometers per hour (km/h) under the second preset condition, so as to avoid inaccurate measurement of the yaw angle of the laser radar caused by too small speed; the yaw rate of the vehicle may also be limited to less than 0.5 degrees per second (deg/s) to avoid inaccurate yaw measurements by the lidar as the vehicle changes direction of travel. Wherein, the smaller the yaw rate of the vehicle, the more stable the running of the vehicle, and the more accurate the angle information measured. When the state information of the vehicle accords with the second preset condition, the measuring accuracy of the yaw angle of the laser radar is larger than the second accuracy, the laser radar can be calibrated based on the yaw angle measured at the moment, and a calibration result has larger accuracy.
Specifically, the laser radar may acquire a number Zhang Dianyun of images per second, the vehicle may determine whether the point cloud is valid based on the state information corresponding to each point cloud, that is, if the state information of the vehicle corresponding to the point cloud meets a second preset condition, the point cloud is taken as an effective point cloud, and the vehicle may acquire a yaw angle of the laser radar based on continuous effective point clouds, so as to calibrate the laser radar. Therefore, the vehicle can acquire the duration time of the state information meeting the second preset condition, namely, when the effective point cloud continuously exceeds a certain number, the yaw angle data of the laser radar are acquired based on the continuous point cloud. For example, if the laser radar can acquire 10 pieces of point cloud data per second, and the duration of the state information of the vehicle meets the second preset condition is 6s, the laser radar can acquire continuous 60 Zhang Dianyun data within the 6s, and since the state information of the vehicle corresponding to the 60 Zhang Dianyun meets the second preset condition, the vehicle can acquire the yaw angle corresponding to the laser radar based on 60 Zhang Dianyun, obviously, the yaw angle of the laser radar acquired at this time has accuracy, and the offset degree of the yaw angle of the laser radar can be reflected, so the vehicle can calibrate the laser radar based on the acquired yaw angle.
Step S260: and if the duration time is greater than or equal to a third time length, calibrating the yaw angle of the laser radar based on the obtained yaw angle, wherein the third time length is a continuous time length for determining that the yaw angle is effective.
In the embodiment of the application, when the duration time of the state information of the vehicle meeting the second preset condition is longer than or equal to the third duration time, the time period can be regarded as an effective time period, yaw angle data acquired by the vehicle in the third time period are taken as effective data, and the yaw angle of the laser radar is calibrated based on the effective data. The effective data of the yaw angle refers to an included angle between the vehicle running direction acquired by the laser radar and the center of the optical axis in a third time length.
In some embodiments, as shown in fig. 6, calibrating the yaw angle of the lidar in step S260 may include the steps of:
step S261: and acquiring an included angle between the lane line vector and the traveling direction vector of the vehicle as a second included angle.
In the embodiment of the application, the vehicle can acquire the lane line information in the running process of the vehicle by using the laser radar, and the lane line is fitted into the lane line by a least square method by extracting the set or physical characteristics, so that the accuracy of the identified lane line is higher. The laser radar can detect a lane line vector in each acquired point cloud, as shown in fig. 7, when the laser radar looks down, the lane line information acquired by each frame of the laser radar is a black circle, if the laser radar has no offset, the lane line vector is taken as the running direction of the vehicle at this time, the detected running direction of the vehicle and the center of the optical axis of the laser radar should be parallel, namely, the yaw angle is zero; if the laser radar is offset, as shown in fig. 8, the state information of the vehicle meets a second preset condition, which indicates that the running direction of the vehicle is the same as the lane line vector, but because the laser radar is offset, the optical axis center of the laser radar is not parallel to the running direction of the vehicle, so that the optical axis center and the detected lane line vector form an included angle, namely an angle offset in the graph, and the angle offset is the offset angle of the yaw angle of the laser radar.
Step S262: and calibrating the yaw angle of the laser radar based on the second included angle.
In the embodiment of the application, after the vehicle obtains the second included angle based on the lane line vector, the yaw angle of the laser radar can be compensated based on the second included angle, so that the center of the optical axis of the laser radar is the same as the running direction of the vehicle. After the offset angle of the laser radar is calibrated, the coordinate data of the external obstacle obtained by the laser radar can be accurately utilized, and then the coordinate data are converted into the coordinate data in a vehicle coordinate system, so that the functions of obstacle avoidance and the like of the vehicle are realized.
Step S270: and if the duration is greater than or equal to a fourth time length, determining that the calibration is completed, wherein the fourth time length is greater than the third time length, and the fourth time length is a continuous time length for determining that the calibration is effective.
In the embodiment of the present application, as described in the above steps, in order to ensure accuracy of calibrating the yaw angle of the laser radar, the vehicle may calibrate the yaw angle of the laser radar multiple times, specifically, if the duration of the state information of the vehicle meets the second preset condition is greater than or equal to the third time length, the vehicle may use the yaw angle data of the laser radar acquired in the third time length as one effective data, calibrate the laser radar based on the effective data, and may acquire multiple effective data, where each effective data may calibrate the laser radar, so as to improve accuracy of calibrating the laser radar. If the total time length corresponding to the plurality of effective data is greater than the fourth time length, the vehicle determines that the calibration of the yaw angle of the laser radar is completed, that is, the fourth time length is the time length for determining that the calibration of the yaw angle of the laser radar is effective, and obviously, the fourth time length is greater than the third time length corresponding to each effective data.
The correspondence between the state information of the vehicle and the angle to be calibrated of the lidar is shown in the following table, for example:
| at a speed of >50 km/h | |
| Yaw rate <2 degrees per second | Calibration of pitch and roll angles |
| Yaw rate <0.5 degree per second | Calibration of yaw angle |
After the laser radar enters a calibration state, whether the laser radar is calibrated based on the angle information acquired by the laser radar can be confirmed based on the state information of the vehicle, namely the running speed of the vehicle and the yaw rate of the vehicle. If the state information of the vehicle accords with a first preset condition, namely the speed of the vehicle is greater than 50 kilometers per hour (km/h) and the yaw rate of the vehicle is less than 2 degrees per second (devine/s), the vehicle can calibrate the pitch angle and the roll angle of the laser radar; if the state information of the vehicle meets the second preset condition, namely, the speed of the vehicle is greater than 50 kilometers per hour (km/h), and the yaw rate of the vehicle is less than 0.5 degrees per second (devine/s), the vehicle can calibrate the yaw angle of the laser radar, and meanwhile, the state information of the vehicle also meets the first preset condition, so that the pitch angle and the roll angle of the laser radar can be calibrated.
In some embodiments, the first time length and the third time length may be the same 5 seconds, and the second time length and the fourth time length may be the same 2 minutes, but since the effective data for calibrating the pitch angle and the roll angle of the laser radar is different from the screening standard of the effective data for calibrating the yaw angle of the laser radar, that is, the yaw rate in the vehicle state information corresponding to the effective data for calibrating the yaw angle of the laser radar is smaller, there may be a certain road section where the pitch angle and the roll angle corresponding to the road section can calibrate the laser radar, but the yaw angle corresponding to the road section cannot calibrate the laser radar.
It can be understood that in the process of calibrating the laser radar, the same calibration method is adopted for calibrating the pitch angle and the roll angle of the laser radar, and another calibration method is adopted for calibrating the yaw angle of the laser radar, so in the embodiment of the application, the relationship between the calibration of the pitch angle and the roll angle of the laser radar and the calibration of the yaw angle of the laser radar does not exist, and in some embodiments, the calibration of the pitch angle, the roll angle and the yaw angle of the laser radar can be performed simultaneously, or the calibration of the yaw angle of the laser radar can be performed first, and then the calibration of the pitch angle and the roll angle of the laser radar is performed without limitation.
According to the laser radar calibration method provided by the embodiment of the application, the state information of the vehicle is obtained, wherein the state information comprises the speed of the vehicle and the yaw rate of the vehicle; if the state information accords with a first preset condition and the duration time is longer than or equal to a first time length, calibrating the pitch angle and the roll angle of the laser radar, and if the duration time is longer than or equal to a second time length, determining that the calibration of the pitch angle and the roll angle is completed; if the state information accords with the second preset condition and the duration time is longer than or equal to the third time length, calibrating the yaw angle of the laser radar by the obtained yaw angle, and when the duration time is longer than or equal to the fourth time length, determining that the calibration of the yaw angle is completed. The method can accurately perform self-calibration on the laser radar device in the vehicle, and improves the robustness of self-calibration.
The laser radar calibration method provided by the embodiment of the application, as shown in fig. 9, has the following overall flow: the vehicle acquires self state information, including the running speed of the vehicle and the yaw rate of the vehicle, judges whether the state information of the vehicle meets the calibrated admittance condition, if the state information of the vehicle meets the calibrated admittance condition, the vehicle can execute the subsequent action of calibrating the laser radar, and if the state information of the vehicle does not meet the calibrated admittance condition, the vehicle returns to the step of acquiring the state information of the vehicle until the state information of the vehicle meets the calibrated admittance condition. If the vehicle state information meets the admission condition, the vehicle can calibrate the pitch angle and the roll angle of the laser radar based on a ground detection algorithm, and can calibrate the yaw angle of the laser radar based on a lane line detection result.
Referring to fig. 10, which shows a block diagram of a calibration device 200 for a laser radar according to an embodiment of the present application, the calibration device 200 for a laser radar includes: the state acquisition module 210, the first calibration module 220, and the second calibration module 230. The state acquisition module 210 is configured to acquire state information of a vehicle, where the state information includes a speed of the vehicle and a yaw rate of the vehicle; the first calibration module 220 is configured to calibrate the pitch angle and the roll angle of the laser radar if the state information meets a first preset condition, where the first preset condition is set according to the state information when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than a first accuracy; the second calibration module 230 is configured to calibrate the yaw angle of the laser radar if the status information meets a second preset condition, where the second preset condition is set according to the status information when the measurement accuracy of the yaw angle of the laser radar of the vehicle is greater than the second accuracy, and the yaw rate corresponding to the second preset condition is less than the yaw rate corresponding to the first preset condition.
As a possible implementation manner, the first calibration module 220 includes a first time length acquisition unit, a first calibration unit, and a first calibration determination unit. The first time length acquisition unit is used for acquiring a pitch angle and a roll angle of the laser radar and acquiring the duration time length of the state information meeting the first preset condition if the state information meets the first preset condition; the first calibration unit is used for calibrating the pitch angle and the roll angle of the laser radar based on the acquired pitch angle and roll angle if the duration time is longer than or equal to a first time length, wherein the first time length is a continuous time length for determining that the pitch angle and the roll angle are effective; the first calibration determining unit is used for determining that the calibration is completed if the duration time is longer than or equal to a second time length, wherein the second time length is longer than the first time length, and the second time length is a continuous time length for determining that the calibration is effective.
As a possible implementation manner, the second calibration module 230 includes a second duration acquisition unit, a second calibration unit, and a second calibration determination unit. The second duration acquiring unit is used for acquiring the yaw angle of the laser radar and acquiring the duration of the state information meeting the second preset condition if the state information meets the second preset condition; the second calibration unit is used for calibrating the yaw angle of the laser radar based on the acquired yaw angle if the duration time is longer than or equal to a third time length, wherein the third time length is a continuous time length for determining the effective yaw angle; the second calibration determining unit is used for determining that the calibration is completed if the duration is longer than or equal to a fourth time length, the fourth time length is longer than the third time length, and the fourth time length is a continuous time length for determining that the calibration is effective.
As one possible implementation, the first preset condition includes a speed greater than or equal to 50 km per hour, a yaw rate less than 2 degrees per second, and the second preset condition includes a speed greater than or equal to 50 km per hour, a yaw rate less than 0.5 degrees per second.
As a possible implementation manner, the calibration of the pitch angle and the roll angle of the laser radar comprises a normal vector acquisition unit and a calibration unit. The normal vector acquisition unit is used for acquiring a ground normal vector based on a ground detection algorithm; the calibration unit is used for calibrating the pitch angle and the roll angle of the laser radar based on the ground normal vector.
As a possible implementation manner, the calibration unit comprises a first included angle acquisition component and a calibration component. The first included angle acquisition component is used for acquiring an included angle between a ground normal vector and a standard normal vector as a first included angle, wherein the standard normal vector is a ground normal vector in a preset state, and the preset state is that the ground normal vector is parallel to a horizontal plane normal vector; the calibration component is used for calibrating the pitch angle and the roll angle of the laser radar based on the first included angle.
As a possible implementation manner, calibrating the yaw angle of the laser radar includes: the second included angle acquisition unit and the third calibration unit. The second included angle acquisition unit is used for acquiring an included angle between the lane line vector and the traveling direction vector of the vehicle as a second included angle; and the third calibration unit is used for calibrating the yaw angle of the laser radar based on the second included angle.
As a possible implementation manner, the calibration device 200 of the laser radar further includes a signal acquisition module, configured to acquire the calibration signal, where the calibration signal is used to instruct the laser radar to enter a calibration state.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus and modules described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
In several embodiments provided by the present application, the coupling of the modules to each other may be electrical, mechanical, or other.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
In summary, in the calibration method of the lidar provided by the application, the state information of the vehicle is obtained, wherein the state information includes the speed of the vehicle and the yaw rate of the vehicle; if the state information accords with a first preset condition, calibrating a pitch angle and a roll angle of the laser radar; if the state information accords with a second preset condition, calibrating the yaw angle of the laser radar, wherein the yaw angle speed corresponding to the second preset condition is smaller than the yaw angle speed corresponding to the first preset condition. Under the condition that the vehicle state meets the corresponding conditions, the parameters corresponding to the laser radar are calibrated, so that the angle information of the laser radar obtained through measurement is more accurate, and the accuracy of laser radar calibration can be improved.
Referring to fig. 11, a block diagram of a vehicle 100 according to an embodiment of the present application is shown. The vehicle 100 of the present application may include one or more of the following components: body 110, lidar 120, processor 130, memory 140, and one or more applications, wherein lidar 120, processor 130, and memory 140 are installed in body 110, the one or more applications may be stored in memory 130 and configured to be executed by the one or more processors 130, the one or more applications configured to perform the method as described in the foregoing method embodiments.
Lidar 120 may include both pulsed and continuous wave lidar, and may use ultraviolet, visible, or near infrared light to image objects. The imaged material can include nonmetallic objects, rocks, rain, compounds, aerosols, clouds, single molecules, and the like.
Processor 130 may include one or more processing cores. The processor 130 utilizes various interfaces and lines to connect various portions of the overall computer device, perform various functions of the computer device and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 140, and invoking data stored in the memory 140. Alternatively, the processor 130 may be implemented in at least one hardware form of digital signal Processing (DIGITAL SIGNAL Processing, DSP), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 130 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for being responsible for rendering and drawing of display content; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 130 and may be implemented solely by a single communication chip.
Memory 140 may include random access Memory (Random Access Memory, RAM) or Read-Only Memory (ROM). Memory 140 may be used to store instructions, programs, code sets, or instruction sets. The memory 140 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described below, etc. The storage data area may also store data created by the computer device in use (e.g., phonebook, audio-video data, chat-record data), etc.
Referring to fig. 12, a block diagram of a computer readable storage medium according to an embodiment of the present application is shown. The computer readable storage medium 800 has stored therein program code that can be invoked by a processor to perform the methods described in the method embodiments described above.
The computer readable storage medium 800 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium 800 comprises a non-volatile computer readable medium (non-transitory computer-readable storage medium). The computer readable storage medium 800 has storage space for program code 810 that performs any of the method steps described above. The program code can be read from or written to one or more computer program products. Program code 810 may be compressed, for example, in a suitable form.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be appreciated by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method for calibrating a lidar, the method being applied to a vehicle on which the lidar is mounted, the method comprising:
Acquiring state information of the vehicle, wherein the state information comprises the speed of the vehicle and the yaw rate of the vehicle;
If the state information accords with a first preset condition, calibrating a pitch angle and a roll angle of the laser radar, wherein the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is larger than a first accuracy;
If the state information accords with a second preset condition, calibrating the yaw angle of the laser radar, wherein the second preset condition is set according to the state information when the measurement accuracy of the yaw angle of the laser radar of the vehicle is larger than a second accuracy, and the yaw rate corresponding to the second preset condition is smaller than the yaw rate corresponding to the first preset condition.
2. The method according to claim 1, wherein calibrating the pitch angle and roll angle of the lidar if the status information meets a first preset condition comprises:
If the state information accords with a first preset condition, acquiring a pitch angle and a roll angle of the laser radar, and acquiring duration time of the state information in accordance with the first preset condition;
If the duration time is longer than or equal to a first time length, calibrating the pitch angle and the roll angle of the laser radar based on the acquired pitch angle and roll angle, wherein the first time length is a continuous time length for determining that the pitch angle and the roll angle are effective;
And if the duration is greater than or equal to a second time length, determining that the calibration is completed, wherein the second time length is greater than the first time length, and the second time length is a continuous time length for determining that the calibration is effective.
3. The method according to claim 1, wherein calibrating the yaw angle of the lidar if the status information meets a second preset condition, the yaw rate corresponding to the second preset condition being smaller than the yaw rate corresponding to the first preset condition, comprises:
If the state information accords with a second preset condition, acquiring a yaw angle of the laser radar, and acquiring duration time of the state information in accordance with the second preset condition;
If the duration is greater than or equal to a third time length, calibrating the yaw angle of the laser radar based on the obtained yaw angle, wherein the third time length is a continuous time length for determining that the yaw angle is effective;
And if the duration is greater than or equal to a fourth time length, determining that the calibration is completed, wherein the fourth time length is greater than the third time length, and the fourth time length is a continuous time length for determining that the calibration is effective.
4. The method of claim 1, wherein the first preset condition comprises: the speed is greater than or equal to 50 kilometers per hour, and the yaw rate is less than 2 degrees per second;
The second preset condition includes: the speed is greater than or equal to 50 kilometers per hour and the yaw rate is less than 0.5 degrees per second.
5. The method according to any one of claims 1 to 4, wherein said calibrating pitch and roll angles of the lidar comprises:
Acquiring a ground normal vector based on a ground detection algorithm;
and calibrating the pitch angle and the roll angle of the laser radar based on the ground normal vector.
6. The method of claim 5, wherein calibrating the pitch angle and roll angle of the lidar based on the ground normal vector comprises:
Acquiring an included angle between the ground normal vector and a standard normal vector as a first included angle, wherein the standard normal vector is a ground normal vector in a preset state, and the preset state is that the ground normal vector is parallel to a horizontal plane normal vector;
and calibrating the pitch angle and the roll angle of the laser radar based on the first included angle.
7. The method according to any one of claims 1 to 4, wherein said calibrating the yaw angle of the lidar comprises:
Acquiring an included angle between the lane line vector and the traveling direction vector of the vehicle as a second included angle;
And calibrating the yaw angle of the laser radar based on the second included angle.
8. A laser radar calibration device, wherein the device is applied to a vehicle on which the laser radar is mounted, the device comprising: the system comprises a state acquisition module, a first calibration module and a second calibration module, wherein,
The state acquisition module is used for acquiring state information of the vehicle, wherein the state information comprises the speed of the vehicle and the yaw rate of the vehicle;
The first calibration module is used for calibrating the pitch angle and the roll angle of the laser radar if the state information accords with a first preset condition, and the first preset condition is set according to the state information of the vehicle when the measurement accuracy of the pitch angle and the roll angle of the laser radar is greater than a first accuracy;
the second calibration module is configured to calibrate a yaw angle of the laser radar if the state information meets a second preset condition, where the second preset condition is set according to the state information when the measurement accuracy of the yaw angle of the laser radar of the vehicle is greater than a second accuracy, and a yaw rate corresponding to the second preset condition is less than a yaw rate corresponding to the first preset condition.
9. A vehicle, characterized by comprising: a body main body, a laser radar,
One or more processors;
A memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications configured to perform the method of any of claims 1-7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a program code, which is callable by a processor for executing the method according to any one of claims 1-7.
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| CN116381632B (en) * | 2023-06-05 | 2023-08-18 | 南京隼眼电子科技有限公司 | Self-calibration method and device for radar roll angle and storage medium |
| CN118068307A (en) * | 2024-04-18 | 2024-05-24 | 上海禾赛科技有限公司 | Detection method and device, optical detection device and carrier |
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| US8195357B2 (en) * | 2008-04-16 | 2012-06-05 | GM Global Technology Operations LLC | In-vehicle sensor-based calibration algorithm for yaw rate sensor calibration |
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