Vehicle sensor calibration method and device, vehicle and storage medium
A calibration method and sensor technology, applied in the field of vehicle, storage medium, and vehicle sensor calibration, can solve problems such as affecting calibration accuracy, long working hours, and complicated laying equipment requirements, and achieve the effect of simplifying the calibration method and improving efficiency.
Pending Publication Date: 2021-05-25
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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[0003] However, after the vehicle is sold, if the sensor is replaced, a dedicated calibration site needs to be re-paved. The requirements for laying equipment are complicated, the required man-hours are long, and the calibration accuracy may be affected by the laying tolerance.
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[0049] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0050] refer to figure 1 , shows a flow chart of the steps of an embodiment of a vehicle sensor calibration method of the present invention. In the embodiment of the present invention, the vehicle is established with an odometer coordinate system, which may specifically include the following steps:
[0051] Step 101 , acquiring first feature information for identifying the surrounding environment of the vehicle by lidar.
[0052] Specifically, when the user needs to calibrate the sensor, the first characteristic information of the surrounding environment of the vehicle is obtained through the laser radar on the vehicle, where the first characteristic information is easily identifiable landmark information, such as parking space li...
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The embodiment of the invention provides a vehicle sensor calibration method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining first feature information of the surrounding environment of the vehicle recognized by a laser radar, obtaining second feature information of the surrounding environment of the vehicle recognized by a sensor, and iteratively performing the following process until an iteration end condition is satisfied: projecting the first feature information and the second feature information to a speedometer coordinate system, obtaining a first deviation value of the first feature information and the second feature information projected to the speedometer coordinate system, and adjusting parameters of the sensor according to the first deviation value to complete calibration of the sensor. According to the method, the calibration mode of the sensor is simplified, a special calibration site does not need to be laid, a user can complete calibration of the sensor only by taking scene information in life as feature information, and the calibration efficiency of the sensor is improved.
Description
technical field [0001] The invention relates to the technical field of vehicles, in particular to a vehicle sensor calibration method, device, vehicle and storage medium. Background technique [0002] Autopilot sensors such as millimeter-wave radar, panoramic cameras, and autopilot cameras are generally calibrated by laying calibration plates and placing radiation devices on the production line when the vehicle is off the assembly line. [0003] However, after the vehicle is sold, if the sensor is replaced, a dedicated calibration site needs to be re-paved. The requirements for laying equipment are complicated, the required man-hours are long, and the calibration accuracy may be affected due to the tolerance of the laying. Contents of the invention [0004] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle sensor calibration method and a corresponding vehicle sensor calibration device, vehicle, and storage medium that ove...
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IPC IPC(8): G01S7/497G06T7/80
CPCG01S7/497G06T7/80
Inventor 李文新管勋
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD