Calibration detection method and device for sensors applied to vehicles
A detection method and detection device technology, applied in the direction of control devices, instruments, image analysis, etc., can solve problems such as false detection and missed detection of obstacles, and achieve the effect of avoiding automatic driving problems
Active Publication Date: 2020-09-01
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
View PDF6 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
If the calibration is abnormal, there will be abnormal situations such as obstacle detection and missed detection, which will lead to traffic accidents
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0038] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
[0039] In the embodiments of the present invention, unless stated otherwise, the used orientation words such as "up, down, top, bottom" are usually for the directions shown in the drawings or for vertical, vertical or The term used to describe the mutual positional relationship of each component in terms of the direction of gravity.
[0040] figure 1 It is a flow chart of the calibration detection method applied to the sensor of the vehicle provided by the present invention; figure 1 As shown, in the first aspect of the present invention, a calibration detection method applied to a sensor of a vehicle is provided, and the calibration detection method includes:...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The embodiment of the invention provides a calibration detection method applied to a sensor of a vehicle. The calibration detection method applied to the sensor of the vehicle comprises the steps of correspondingly extracting point cloud data of a point cloud of a public area covered by monitoring areas of at least two sensors, wherein the point cloud data comprises a position characteristic of aplane of the point cloud and position characteristics of a point of the point cloud; correspondingly comparing the point cloud data of the public area with calibration thresholds of the at least two sensors by using a data registration method; and if the point cloud data do not exceed the calibration thresholds, showing that the calibration of the at least two sensors is normal; and otherwise, showing that the calibration of at least one sensor is abnormal. According to the calibration detection method applied to the sensor of the vehicle, through calibration checking, the calibration abnormality appearing in the vehicle calibration link can be rapidly checked. After an autonomous vehicle runs for a long time, a phenomenon that the sensors move is easily caused, the data are not matched with previous calibration parameters, the abnormality can be found in time, and the calibration is carried out again to solve the automatic driving problem caused by the calibration problem.
Description
technical field [0001] The invention relates to the field of automobile driving, in particular to a sensor calibration detection method applied to vehicles and a sensor calibration detection device applied to vehicles. Background technique [0002] The automatic driving system includes various sensors such as imu, gnss receiver, lidar, camera, etc. The automatic driving system needs to calibrate these sensors. Through the calibration parameters, the conversion relationship between the various sensors on the vehicle can be obtained, and then the sensor can be calibrated. The data are fused and unified into a unified coordinate system. If the calibration is abnormal, there will be abnormal situations such as obstacle detection and missed detection, which will lead to traffic accidents. Contents of the invention [0003] The purpose of the embodiment of the present invention is to solve the problem that the sensor moves during the driving process, causing the calibration to ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B60W50/02G06T7/30G06T7/73
CPCB60W50/0205B60W2050/0215G06T7/30G06T7/73
Inventor 张磊杨凯张宏达殷其娟王柏生陈卓
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD