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Laser radar and millimeter wave radar combined calibration method

A millimeter-wave radar and lidar technology, applied in radio wave measurement systems, instruments, etc., can solve problems such as being unsuitable for large-scale deployment or mass production, unstable in effect, and reducing calibration efficiency.

Active Publication Date: 2020-10-20
AUTOCORE INTELLIGENT TECH NANJING CO LTD
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Problems solved by technology

This method has low calibration accuracy and unstable results, which greatly reduces the calibration efficiency and is not suitable for large-scale deployment or mass production

Method used

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  • Laser radar and millimeter wave radar combined calibration method
  • Laser radar and millimeter wave radar combined calibration method
  • Laser radar and millimeter wave radar combined calibration method

Examples

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Embodiment

[0021] In this example, if Figure 1-3 As shown, the laser radar 4 and the millimeter-wave radar 5 are fixedly installed at predetermined positions of the electric vehicle, and the relative position between them is fixed, and a corner reflector 1 that can move vertically in space is installed within the sensing range of the millimeter-wave radar 5 , the photosensitive unit 2 for receiving the infrared light 6 emitted by the laser radar 5 is installed at the apex of the corner reflector 1 .

[0022] Among them, the corner reflector 1 can form a strong reflection point within the sensing range of the 24GHz or 77GHz millimeter-wave radar. The corner reflector specification needs to be greater than 0db and less than 20db, and it is best to use a 10db corner reflector. The photosensitive unit 2 can receive the infrared light 6 emitted by the laser radar 4 , such as 905nm or 1550nm. The photosensitive unit may be a point photosensitive unit, a column photosensitive unit or a surfac...

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Abstract

The invention relates to a laser radar and millimeter-wave radar combined calibration method, which comprises the following steps that a corner reflector capable of moving along the vertical directionis arranged in a common sensing area of a millimeter-wave radar and a laser radar; the laser radar outputs point cloud information of a corresponding wire harness, obtains the space coordinates of the vertex of the corner reflector in a laser radar coordinate system according to the front-back space position relation of the corner reflector, and obtains the space coordinates of the vertex of thecorner reflector in a millimeter-wave radar coordinate system according to the original point cloud information output by the millimeter-wave radar; the corner reflector is moved to obtain multiple groups of calibration data of the corner reflector at different positions; and a corresponding relation between the laser radar coordinate system and the millimeter wave radar coordinate system is foundaccording to the calibration data. According to the invention, automatic calibration can be carried out, interference of human factors is eliminated, the calibration efficiency is improved, and large-scale deployment or mass production requirements can be met.

Description

technical field [0001] The invention relates to a joint calibration method of laser radar and millimeter wave radar, belonging to the technical field of automatic driving. Background technique [0002] At present, self-driving vehicles generally use a variety of sensors for object perception and positioning, among which lidar and millimeter-wave radar are the most commonly used sensors. In a multi-sensor detection system, there must be a unified coordinate system. Therefore, before using millimeter-wave radar and lidar for sensor fusion, joint spatial calibration of the two sensors must be performed to ensure that the data obtained by the two sensors have a unified coordinate system. The reference standard can be converted to each other, but there is no mature joint calibration method to calibrate the two sensors with high precision. [0003] Due to the large differences in the characteristics of lidar and millimeter-wave radar, it is difficult to develop an automatic calib...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/40G01S7/497
CPCG01S7/40G01S7/497
Inventor 刘慧远刘心刚张旸陈诚刘洁
Owner AUTOCORE INTELLIGENT TECH NANJING CO LTD
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