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Data processing method and device for sensor calibration and automatic driving vehicle

A technology of sensing data and data processing, applied in the field of data processing, can solve the problems of poor sensor flexibility and achieve the effect of improving flexibility

Pending Publication Date: 2021-11-16
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, the calibration implementation methods in the prior art often require a special calibration table, which leads to poor flexibility in determining the coordinate transformation relationship between sensors

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  • Data processing method and device for sensor calibration and automatic driving vehicle
  • Data processing method and device for sensor calibration and automatic driving vehicle
  • Data processing method and device for sensor calibration and automatic driving vehicle

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Embodiment Construction

[0039] Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0040] In order to better understand the technical solutions of the present disclosure, the related technologies involved in the present disclosure are further introduced below.

[0041] At present, during the driving process of self-driving vehicles (also called unmanned vehicles), a variety of sensors are required to work together to complete the perception and positi...

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Abstract

The invention provides a data processing method and device for sensor calibration and an automatic driving vehicle, relates to the field of data processing, in particular to the field of automatic driving, and can be used for calibrating a sensor. The specific implementation scheme is as follows: acquiring first sensing data acquired by a first sensor based on a first coordinate system; acquiring second sensing data acquired by a second sensor based on the second coordinate system, wherein the first sensing data and the second sensing data are data generated in the same driving process of the vehicle; determining a first movement track corresponding to the first sensor according to the first sensing data, and determining a second movement track corresponding to the second sensor according to the second sensing data; and determining a target angle difference between the first coordinate system and the second coordinate system according to the first moving track and the second moving track. Therefore, the sensor calibration can be realized without depending on a calibration table, and the flexibility of determining the coordinate conversion relation between the sensors is effectively improved.

Description

technical field [0001] The present disclosure relates to the field of data processing, and in particular to a data processing method and device for sensor calibration and an automatic driving vehicle, which can be used for automatic driving. Background technique [0002] In the process of driving an autonomous vehicle, a variety of sensors need to work together to complete the positioning and perception of the vehicle body. Therefore, it is particularly important to calibrate the sensors, that is, to determine the coordinate transformation relationship between the sensors. [0003] At present, when determining the coordinate transformation relationship between sensors in the existing technology, a special calibration table is usually required. For example, the car body can be fixed on the calibration table, and the pre-fixed corner reflector can be used to compare the millimeter-wave radar The angle of the corner reflector in the coordinate system and the angle of the corner...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/40G01C25/00
CPCG01S7/40G01C25/005
Inventor 谢青青张彦福张家立
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD