Calibration method and arrangement structure of automatic driving environment perception sensor and vehicle

A technology of environment perception and automatic driving, which is applied to vehicle components, instruments, measuring devices, etc., can solve problems such as poor safety performance, a large number of manual operations, and low precision, so as to improve the degree of automation, reduce the number of sensors, and improve safety. Effect

Pending Publication Date: 2021-01-19
BEIJING NEW ENERGY VEHICLE TECH INNOVATION CENT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the prior art, self-driving vehicles have different perception ranges and detection requirements for the front, side front, side, side rear and rear, and different scenarios need to implement different functions. The layout requirements of sensors are also different; in addition, for the calibration of sensing sensors, in the prior art, the calibration method of sensors is usually that each sensor establishes its own independent coordinate system, or different sensors are calibrated according

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  • Calibration method and arrangement structure of automatic driving environment perception sensor and vehicle
  • Calibration method and arrangement structure of automatic driving environment perception sensor and vehicle
  • Calibration method and arrangement structure of automatic driving environment perception sensor and vehicle

Examples

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Example Embodiment

[0060]Example 1

[0061]This embodiment provides a method for calibrating an autonomous driving environment sensing sensor, such asfigure 1 As shown, the calibration method includes:

[0062]S11 establish the vehicle coordinate system;

[0063]S12 establishes a plane equation for leveling the ground based on the ground point cloud data sent by the lidar, and determines the pose transformation relationship between the lidar coordinate system and the vehicle coordinate system;

[0064]S13 matches the edge points of the point cloud data of the lidar and the image data of the camera in the same scene, and determines the pose transformation relationship of the camera coordinate system relative to the vehicle coordinate system according to the coordinate system transformation relationship of the camera and the lidar;

[0065]S14 Detect the position of the millimeter wave reflector through the lidar and millimeter wave radar data, calculate the coordinate system parameters of the millimeter wave radar, a...

Example Embodiment

[0098]Example 2

[0099]The embodiment of the present invention provides an arrangement structure of an automatic driving environment sensing sensor, such asFigure 8 As shown, it includes a lidar 11 arranged above the top of the vehicle; a mid-range millimeter-wave radar 12, an ultrasonic radar 13 and a 360-degree surround view camera 14 arranged alternately around the vehicle; a long-range millimeter-wave radar 15 arranged in front of the vehicle, In the front camera 16 of the inner part of the front windshield of the vehicle, the wiring harness connector of the lidar 11, the long-distance millimeter wave radar 15, and the front camera 16 coincide with the central axis of the vehicle, the medium-distance millimeter wave radar 12 and the ultrasonic radar 13 And 360-degree surround view camera 14 is symmetrically arranged.

[0100]In this embodiment, for specific autonomous driving application scenarios, the layout of the sensing sensors is designed. According to the different sensing rang...

Example Embodiment

[0126]Example 3

[0127]Based on the same inventive concept, the embodiment of the present invention also provides a vehicle. Since the principle of the problem solved by the vehicle in this embodiment is similar to the arrangement structure of the autonomous driving environment sensing sensor in the previous embodiment, the implementation of the vehicle in this embodiment can refer to the foregoing An embodiment of the arrangement structure of the sensor for automatic driving environment, the repetition will not be repeated.

[0128]An embodiment of the present invention provides a vehicle, and the vehicle includes an arrangement structure of an automatic driving environment sensing sensor as described in any of the foregoing embodiments.

[0129]In this embodiment, a set of environmental sensing sensor configuration schemes suitable for automatic driving and automatic sensor calibration methods are provided to realize a new environmental sensing sensor arrangement and calibration scheme su...

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Abstract

The invention relates to the field of automatic driving sensors, in particular to a calibration method and arrangement structure of an automatic driving environment perception sensor and a vehicle. According to the calibration method, different calibration methods are adopted for different sensors, based on utilization and processing of data such as laser point clouds, pose transformation of coordinate systems of different sensors relative to a vehicle coordinate system is carried out through different methods, the automation degree of automatic driving environment perception sensor calibration is improved, the accuracy is high, the requirement of multi-sensor fusion is met; 360-degree uniform coverage of a vehicle body is met, meanwhile, sensor redundancy of a certain degree is achieved,under the condition that an individual sensor breaks down, the surrounding environment can be normally monitored, the automatic driving safety is improved, and through the arrangement method of the embodiment, on the premise that the perception performance is guaranteed, mutual cooperation is achieved to the maximum extent, the using number of sensors is reduced as much as possible, and cost is effectively reduced.

Description

technical field [0001] The invention relates to the field of automatic driving sensors, in particular to a calibration method, layout structure and vehicle of an automatic driving environment perception sensor. Background technique [0002] Autonomous driving requires sensors to detect the environment. Currently, several types of sensors such as laser radar, camera, millimeter-wave radar, and ultrasonic radar have their own advantages and disadvantages, and their characteristics are different. Multi-sensor information fusion is required to complement each other and make full use of it. The advantages of each sensor can achieve accurate perception, thereby ensuring the safe driving of autonomous vehicles. [0003] Based on technical and cost considerations, current self-driving cars are mainly used in specific scenarios. In the prior art, self-driving vehicles have different perception ranges and detection requirements for the front, side front, side, side rear and rear, and...

Claims

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Application Information

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IPC IPC(8): G01S13/86G01S7/40G01S7/497G01S7/52B60R11/00G06T7/70G06T7/80
CPCG01S13/86G01S13/862G01S13/865G01S13/867G01S7/40G01S7/497G01S7/52004B60R11/00G06T7/70G06T7/80G06T2207/10028G06T2207/20081G06T2207/20084
Inventor 张婷原诚寅朱明哲周玉祥
Owner BEIJING NEW ENERGY VEHICLE TECH INNOVATION CENT CO LTD
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