Sensor calibration method and device for unmanned vehicle and electronic equipment

Abstract

The invention relates to the technical field of unmanned driving, and provides a sensor calibration method and device for an unmanned vehicle and electronic equipment. The method is applied to unmanned equipment, namely automatic driving equipment or an unmanned vehicle, and comprises the following steps: in the driving process of the unmanned vehicle, obtaining road scene data collected by at least two sensors to be calibrated; using a preset feature extractor for extracting the road scene data to obtain multiple pieces of target feature information, wherein the multiple pieces of target feature information can represent longitudinal features in the road scene; taking the target feature information as a constraint condition of a preset cost function, and performing iterative optimization processing by using the cost function and the parameter space to obtain a calibration result after iterative optimization processing; and updating the external parameters corresponding to the to-be-calibrated sensor based on the calibration result. The accuracy of the sensor calibration result can be improved, and the adaptability and robustness of the unmanned vehicle in large-scale deployment and application can be improved.

Description

technical field [0001] The present disclosure relates to the technical field of unmanned driving, in particular to a sensor calibration method, device and electronic equipment for unmanned vehicles. Background technique [0002] Unmanned vehicles, also known as self-driving vehicles, unmanned vehicles, with the development of unmanned driving technology, the application scenarios of unmanned vehicles are becoming more and more extensive. Usually, there are many sensors installed on the unmanned vehicle to sense and collect the environment and obstacle data. Accurate calibration of the sensors is one of the prerequisites for the normal operation of the perception module of the unmanned driving system. Although the unmanned vehicle will be initialized and calibrated in the calibration room before leaving the factory, the position of the sensor may change slightly during the long-term driving of the unmanned vehicle, such as the position change caused by the loosening of the in...

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Problems solved by technology

[0004] In view of this, the embodiments of the present disclosure provide a sensor calibration method, device and electronic equipment for unmanned vehicles to solve the problem of greatly reducing the adaptability of unmanned vehicles in large-scale deployment and application in the prior art and robustness issues

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