Automatic calibration method of orientation parameters of sensors, edge computing unit and roadside sensing system
An automatic calibration and edge computing technology, applied in automatic recalibration, test/calibration devices, instruments, etc., can solve problems such as difficult to guarantee timeliness, time-consuming, laborious, and high cost
Active Publication Date: 2021-08-20
CONTINENTAL HOLDING CHINA CO LTD
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Problems solved by technology
The existing calibration schemes mainly have the following two problems: (1) The calibration process requires a lot of on-site manual participation, which is time-consuming, laborious, and costly; (2) Due to some uncontrollable factors during the use of the sensor, its direction and There may be deviations in the position. At this time, personnel must be sent to the site for secondary calibration, and its timeliness is difficult to guarantee
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[0014] In the following description, numerous specific details are set forth in order to enable those skilled in the art to fully understand the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. Furthermore, it should be understood that the invention is not limited to the particular embodiments described. Instead, it is conceivable to implement the present invention in any combination of the following features and elements, regardless of whether they relate to different embodiments. Accordingly, the following aspects, features, embodiments and advantages are by way of illustration only and should not be considered elements or limitations of the claims unless explicitly stated in the claims.
[0015] In order to overcome the shortcomings of the existing methods for calibrating sensors as mentioned in the background technology section, which require manual participation,...
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An automatic calibration method for orientation parameters of a sensor, an edge computing unit and a roadside sensing system. The automatic calibration method of the orientation parameter of the sensor includes: obtaining the first vehicle position sequence in the first coordinate system obtained based on the sensing result of the sensor; generating a plurality of candidate orientation parameters based on the current orientation parameter; Each of the orientation parameters converts the first vehicle position sequence into a second vehicle position sequence in the second coordinate system; respectively determines a correlation value according to each of the plurality of second vehicle position sequences and the lane position; And setting the candidate orientation parameter corresponding to the second vehicle position sequence with the maximum correlation value as the current orientation parameter. The automatic calibration method of the orientation parameter of the sensor, the edge computing unit and the roadside sensing system of the present invention can automatically realize the automatic calibration, and has high timeliness.
Description
technical field [0001] The invention relates to automatic calibration of sensors, in particular to an automatic calibration method of orientation parameters of sensors, an edge computing unit and a roadside sensing system. Background technique [0002] In order to build an intelligent traffic system (Intelligent Traffic System, ITS), cities set up roadside units (Roadside Unit, RSU) on roadsides and intersections to sense vehicles and pedestrians on the road. The position of vehicles and pedestrians on the road is an important parameter that the roadside unit needs to sense. Generally speaking, the final determined positions of vehicles and pedestrians on the road are the positions in the geodetic coordinate system. This requires converting the vehicle and pedestrian positions in the sensor coordinate system sensed by the sensors in the roadside unit to the earth coordinate system. As we all know, the exact position and sensing direction of the sensor of the roadside unit ...
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IPC IPC(8): G01D18/00
CPCG01D18/002
Inventor 文峰徐飞金柳凯
Owner CONTINENTAL HOLDING CHINA CO LTD