This invention discloses an onboard multi-sensor active-passive collaborative stabilization device and method, relating to the field of stability control technology for autonomous vehicle
perception systems. The device includes a vehicle mounting base, a passive
vibration isolation module, an
active compensation module, a multi-sensor common reference support platform, an attitude and
vibration sensing module, and a collaborative control module. The passive
vibration isolation module attenuates mid-to-
high frequency vibrations and
impact loads transmitted from the vehicle body to the support platform. The
active compensation module compensates for the
pitch, roll, and / or
yaw attitudes of the support platform in real time. The collaborative control module preprocesses disturbance information, identifies disturbances, divides frequency bands, and allocates control, ensuring that low-frequency attitude disturbances are compensated by the
active compensation module, mid-to-
high frequency vibrations are attenuated by the passive
vibration isolation module, and outputs stabilized multi-sensor data and / or residual attitude information. This invention improves the installation stability and relative
pose stability of multiple sensors such as cameras,
lidar, and IMUs during vehicle operation, reduces image blurring,
point cloud distortion, and attitude drift, and enhances the stability and accuracy of multi-
sensor fusion perception, localization mapping, and autonomous driving systems.