Sensor horizontal deviation angle identification method and system

Abstract

The invention discloses a sensor horizontal deviation angle identification method and system, and the method comprises the steps: obtaining a target outputted by a reference sensor and a target outputted by a measured sensor, converting the target outputted by the reference sensor and the target outputted by the measured sensor into the same coordinate system, and carrying out the matching, and obtaining a matched target pair; and respectively calculating the horizontal deviation angle between the target output by the measured sensor in each matched target pair and the target output by the reference sensor, and calculating the average value of the horizontal deviation angles between the target output by the measured sensor in the N matched target pairs and the target output by the reference sensor to obtain the horizontal deviation angle of the measured sensor. The horizontal deviation angle of the measured sensor can be obtained by comparing the target information detected by the reference sensor with the target information detected by the measured sensor without the need for the measured sensor to have a horizontal deviation angle recognition function and have no requirements forroad environment characteristics.

Description

technical field [0001] The invention relates to the technical field of vehicles, in particular to a method and system for identifying a sensor's horizontal deviation angle. Background technique [0002] Current vehicle intelligent driving or assisted driving systems are generally equipped with sensors such as cameras or millimeter-wave radars to detect targets such as vehicles and pedestrians in the road environment. The angular deviation of these sensors also directly affects the performance of intelligent driving or assisted driving functions. Serious angular deviation may even affect the safety of related functions, with very serious consequences. Therefore, the identification of sensor angle deviation is particularly important. [0003] In general, correct installation and calibration can calibrate the angular deviation of the sensor to a smaller range. However, due to the long-term use of the vehicle, mechanical vibration, bracket aging or even collision, the sensor m...

AI Technical Summary

Problems solved by technology

This requires the sensor to have the recognition function, which will increase the cost of the sensor; at the same time, the recognition process also has higher requirements on the characteristics of the road environment, such as clear and straight lane lines or straight and regular road guardrails, etc.

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