Automatic driving system laser radar online calibration method fusing vehicle-mounted information
A technology of lidar and automatic driving, which is applied in neural learning methods, radio wave measurement systems, biological neural network models, etc., can solve problems such as unmanned development, inability to obtain accurate external parameters, and inability to implement online, so as to improve safety performance, ease of engineering and practicality, and the effect of improving the accuracy and reliability of environmental perception
Active Publication Date: 2020-05-12
TSINGHUA UNIV
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[0007] Existing lidar external parameter calibration methods have the following defects: 1) Most of them are static calibration methods, which require special sites and special processes, and cannot be implemented online; 2) Data modeling and calculation are required, which increases the complexity of the algorithm and also The model mismatch error is introduced; 3) Iterative optimization is usually required to find the optimal solution, and it is easy to fall into local optimum, and the real accurate external parameters cannot be obtained
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[0045] The present invention will be described in further detail below in conjunction with the embodiments given in the accompanying drawings.
[0046] Such as figure 1As shown, the autopilot-related hardware involved in the present invention includes a laser radar, a vehicle-mounted ECU (Electric Control Unit, electronic control unit) and a computing unit. Among them, lidar is used for obstacle detection in the automatic driving system. It will feed back the detected point cloud information to the automatic driving system in real time. The obstacle detection algorithm of automatic driving analyzes the type and position of obstacles based on the point cloud information. The on-board ECU belongs to the original vehicle equipment, and will send out the current vehicle speed, steering wheel angle information and INS (Inertial Navigation System, inertial navigation system) information through the CAN (Controller AeraNetwork, Controller Area Network) bus. Wherein, the INS informat...
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The invention discloses an automatic driving system laser radar online calibration method fusing vehicle-mounted information. The invention aims to provide an end-to-end laser radar external parameteronline calibration method, complex mathematical model derivation and optimization are avoided, the use of additional devices is avoided, point cloud data of the laser radar and vehicle ECU data are processed by using the data analysis capability of a deep convolutional neural network; the external parameter error of the laser radar is estimated on line in real time, so that the real-time correction of the external parameters of the laser radar is realized, the accuracy and stability of the environmental perception function of an automatic driving system are improved, and the driving safety ofan automatic driving system is ensured.
Description
technical field [0001] The invention relates to a laser radar calibration method for an automatic driving system, in particular to an online laser radar calibration method for an automatic driving system that integrates vehicle information. Background technique [0002] The autonomous driving technology that has emerged in recent years is expected to solve the social problems of the high number of traffic accidents, and even change the way people travel and affect the design pattern of cities. Therefore, it has received attention from various countries and has become a research hotspot in the automotive industry. [0003] The autonomous driving system needs to interact with the environment, and thus needs to perceive the state of the environment. At present, the environment perception sensors commonly used in autonomous driving systems include: lidar, camera, millimeter wave radar and ultrasonic radar. Among them, lidar is favored because of its accurate distance measuremen...
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Login to View More IPC IPC(8): G01S7/497G06N3/04G06N3/08
CPCG01S7/497G06N3/084G06N3/045
Inventor 秦晓辉谢国涛王晓伟边有钢徐彪胡满江杨泽宇胡展溢钟志华
Owner TSINGHUA UNIV