A method and system for identifying the horizontal deviation angle of a sensor

Abstract

The invention discloses a method and system for identifying the horizontal deviation angle of a sensor. The method includes: acquiring a target output by a reference sensor and a target output by a measured sensor, converting the targets output by the reference sensor and the measured sensor into the same coordinate system, And perform matching to obtain matching target pairs; respectively calculate 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 calculate the target output by the measured sensor in N matching target pairs The average value of the horizontal deviation angles of the targets output by the reference sensor is obtained to obtain the horizontal deviation angle of the measured sensor. The invention does not require the sensor under test to have the recognition function of the horizontal deviation angle, and has no requirements on the characteristics of the road environment. By comparing the target information detected by the reference sensor and the sensor under test, the horizontal deviation angle of the sensor under test can be obtained.

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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