Method for automatically correcting pitch angle of vehicle-mounted laser radar

A vehicle-mounted laser radar and laser radar technology, which is applied in the field of vehicle environment perception, can solve problems such as changes in the installation angle of the radar, and achieve the effects of small amount of computation, reduced data interference, and less computing resources

Pending Publication Date: 2021-03-26
英博超算(南京)科技有限公司
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Problems solved by technology

2. The radar installation angle changes during the actual use of the radar

Method used

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  • Method for automatically correcting pitch angle of vehicle-mounted laser radar
  • Method for automatically correcting pitch angle of vehicle-mounted laser radar
  • Method for automatically correcting pitch angle of vehicle-mounted laser radar

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[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0033] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or there can also be an intervening component. When a component is said to be "connected" to another component, it may be directly connected to the other component or there may be intervening components at the same time. When a component is said to be "set on" another component, it may be set directly on the other component or t...

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Abstract

The invention provides a method for automatically correcting a pitch angle of a vehicle-mounted laser radar. The method comprises the steps: screening and obtaining points of the laser radar on the ground according to a denoising strategy; calculating the current pitch angle of the laser radar for points on the ground according to a ground fitting strategy; and correcting the current pitch angle by adopting an updating strategy. According to the method, straight line fitting is carried out on the point cloud point ground data after data denoising processing according to the ground fitting strategy, the current pitch angle is estimated and obtained, the operand is small, and few operation resources are occupied.

Description

technical field [0001] The invention relates to the technical field of vehicle environment perception, in particular to a method for automatically correcting the pitch angle of a vehicle-mounted laser radar. Background technique [0002] With the development of deep learning technology, the lidar3D detection algorithm based on deep learning has become the first choice for lidar3D target detection. Common grid-based radar detection algorithms usually use the ground plane as the x_y plane, and the vertical direction as the z-axis to establish a 3D coordinate system. Therefore, the lidar3D detection algorithm based on deep learning is more sensitive to the pitch angle of the radar. Excessively large pitch angles will cause the distribution of targets on the z-axis to be more dispersed, resulting in a significant drop in model detection rate. [0003] At present, the external parameter calibration of the common vehicle-mounted laser radar is usually calibrated in the calibratio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/497
CPCG01S7/497
Inventor 田飞景永年
Owner 英博超算(南京)科技有限公司
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