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Method and device for calibrating pitch angle of automobile data recorder

A driving recorder and calibration method technology, applied in the field of navigation, can solve the problems of online completion of the driving recorder pitch angle calibration, inaccuracy, etc., and achieve the effects of improving the calibration efficiency, avoiding distortion, and reducing matching errors.

Pending Publication Date: 2021-12-07
智道网联科技(北京)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, the calibration of the pitch angle of the driving recorder in the related art introduces new errors, and cannot accurately and real-time complete the calibration of the pitch angle of the driving recorder online.

Method used

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  • Method and device for calibrating pitch angle of automobile data recorder
  • Method and device for calibrating pitch angle of automobile data recorder
  • Method and device for calibrating pitch angle of automobile data recorder

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] figure 1 Is a flow diagram embodiment the pitch angle of the tachograph calibration method illustrated embodiment of the present disclosure.

[0054] See figure 1 A pitch angle tachograph calibration method, comprising:

[0055] In step S101, the image recognition of the shot tachograph, obtain a first image including the lane line, wherein the lane line meets the set conditions.

[0056] In one embodiment, the tachograph is provided, on a satellite positioning system to automatically drive the vehicle. Satellite positioning system may include, but is not limited to GPS. Drive recorder may include but is not limited to a monocular camera.

[0057] In a specific embodiment, the drive recorder may be provided to the front windshield of the vehicle. In the autonomous vehicle traveling may be acquired ahead of the vehicle drive recorder captured video data, the lane line recognition of the video data of the image through the depth of learning models, obtaining the identificati...

Embodiment 2

[0068] figure 2 This application is another schematic flow chart of the pitch angle tachograph calibration method shown in Example. figure 2 Relative to figure 1 The present application are described in more detail.

[0069] See figure 2 A pitch angle tachograph calibration method, comprising:

[0070] In step S201, the image recognition tachograph taken to obtain a first image including a plurality of lane line having a set length.

[0071] In one embodiment, the tachograph is provided, on a satellite positioning system to automatically drive the vehicle. Satellite positioning system may include, but is not limited to GPS. Drive recorder may include but is not limited to a monocular camera.

[0072] In a specific embodiment, the drive recorder may be provided to the front windshield of the vehicle. Autonomous vehicle may have a plurality of mutually parallel lane line, a length and a plurality of mutually parallel lane line is greater than with the 60 meters of road, during runn...

Embodiment 3

[0096] Example embodiments implemented method corresponding to the aforementioned applications, the present application further provides a pitch drive recorder device, electronic equipment and the corresponding calibration embodiment.

[0097] Figure 5 The present application is a diagram showing the structure of a pitch angle tachograph calibration apparatus embodiment illustrated embodiment.

[0098] See Figure 5 A pitch angle tachograph calibration apparatus includes an identification module 501, a prediction module 502, a transform module 503, calculation module 504, module 505 determines the pitch angle.

[0099] Identification module 501, an image captured identifying tachograph, obtain a first image including the lane lines, wherein lane line meets the set conditions.

[0100] In one embodiment, the tachograph is provided, on a satellite positioning system to automatically drive the vehicle. Satellite positioning system may include, but is not limited to GPS. Drive recorde...

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Abstract

The invention relates to a method and device for calibrating a pitch angle of an automobile data recorder. The method comprises the steps that an image shot by an automobile data recorder is recognized, a first image containing a lane line is obtained, and the lane line meets a set condition; according to the current pitch angle of the automobile data recorder, a plurality of predicted pitch angles are obtained according to a set rule; IPM transformation is performed on the first image according to the plurality of predicted pitch angles to obtain a plurality of second images; for the plurality of second images, a loss value of a lane line is acquired in each second image; and according to the loss value of the lane line in each second image, the predicted pitch angle is determined corresponding to the second image with the minimum loss value of the lane line as the pitch angle of the automobile data recorder. According to the scheme provided by the invention, the pitch angle of the automobile data recorder can be accurately calibrated online in real time.

Description

Technical field [0001] The present application relates to a navigation technology, and in particular, to a pitch angle tachograph calibration method and apparatus. Background technique [0002] GPS related technologies such as GPS (Global Positioning System, Global Positioning System) with good performance, high precision, wide application characteristics. However, in some scenarios, such as poor positioning signal between the bridge, culverts, tunnels, buildings and other intensive position, positioning satellite positioning system deviation related art great, and even unable to provide positioning results, making it impossible for the autopilot vehicle to provide accurate navigation information. As an auxiliary positioning means may be provided to correct the horizontal and vertical positioning for the automatic driving of the vehicle, to ensure the positioning accuracy of the lane-level semantic information based on high-precision map matching location. [0003] The rapid deve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/73G06T3/00
CPCG06T7/80G06T7/73G06T2207/30256G06T3/04
Inventor 李岩张海强李成军
Owner 智道网联科技(北京)有限公司
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