Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A Lidar Online Calibration Method for Autopilot System Fused with Vehicle Information

A lidar and autonomous driving technology, applied in neural learning methods, radio wave measurement systems, instruments, etc., can solve problems such as unmanned development, lack of accurate external parameters, and inability to implement online, to improve safety and ease of use. The effect of engineering practical, improving the accuracy and reliability of environmental perception

Active Publication Date: 2021-12-24
TSINGHUA UNIV
View PDF12 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[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
However, no related work has been carried out

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 more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Lidar Online Calibration Method for Autopilot System Fused with Vehicle Information
  • A Lidar Online Calibration Method for Autopilot System Fused with Vehicle Information
  • A Lidar Online Calibration Method for Autopilot System Fused with Vehicle Information

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0046] The present invention will be described in further detail below in conjunction with the embodiments given in the accompanying drawings.

[0047] 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...

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

No PUM Login to View More

Abstract

The present invention discloses an on-line calibration method of laser radar for automatic driving system that integrates vehicle information, and its purpose is to provide an end-to-end online calibration method for external parameters of laser radar, avoiding complex mathematical model derivation and optimization, and avoiding the use of additional equipment , using the data analysis capability of the deep convolutional neural network to process the point cloud data of the laser radar and the vehicle ECU data, and estimate the external parameter error of the laser radar in real time online, so as to realize the real-time correction of the external parameters of the laser radar and improve the environment of the automatic driving system The accuracy and stability of the perception function ensures the driving safety of the automatic driving system.

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...

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
no application Login to View More
Patent Type & Authority Patents(China)
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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products