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Calibration external parameter determination method and device, engineering vehicle and readable storage medium

A determination method and external parameter technology, applied in the field of automatic driving, can solve problems such as high precision requirements of inertial measurement units, inability to apply unmanned driving systems, and difficulties in inertial measurement units, so as to improve update accuracy and product application range , low measurement capability and measurement accuracy

Pending Publication Date: 2021-12-24
SANY SPECIAL PURPOSE VEHICLE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The efficiency of the tool measurement method is low, there is a large measurement error, and the original position changes due to road bumps, collisions and other reasons when the vehicle is driving, which causes the existing manual calibration parameters to fail, and it is necessary to stop and perform manual calibration again. Calibration, low efficiency and cannot be applied to real driverless systems
When only the hand-eye calibration method is used for external parameter calibration, it is required to be able to independently and accurately measure the trajectory of each sensor. The inertial measurement unit requires high precision, which is difficult to achieve for common commercial and consumer-grade inertial measurement units.

Method used

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  • Calibration external parameter determination method and device, engineering vehicle and readable storage medium
  • Calibration external parameter determination method and device, engineering vehicle and readable storage medium
  • Calibration external parameter determination method and device, engineering vehicle and readable storage medium

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Experimental program
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Embodiment 1

[0052] like figure 1 As shown, the embodiment of the first aspect of the present invention provides a calibration external parameter determination method, the calibration external parameter determination method includes:

[0053] Step 102, obtaining the first collection data of the vehicle radar and the second collection data of the inertial measurement device;

[0054] Step 104, determining the initial external parameters according to the first collected data, the second collected data and the hand-eye calibration method;

[0055] Step 106, performing de-distortion processing on the first collected data by using the initial external parameters and the second collected data to obtain correction data;

[0056] Step 108, determining the iterative external parameters according to the initial external parameters, the correction data and the second collected data;

[0057] Step 110, judging whether the iteration external parameter meets the preset condition; if yes, go to step 112,...

Embodiment 2

[0065] like figure 2 As shown, in the embodiment of the second aspect of the present invention, the step of determining the iterative external parameters according to the initial external parameters, calibration data and second collection data specifically includes:

[0066] Step 202, determining the distance residual according to the correction data;

[0067] Step 204, determine the iterative extrinsic parameters according to the initial extrinsic parameters, the second collected data and the distance residual.

[0068] In this embodiment, the steps of how to determine the iterative extrinsic parameters by using the initial extrinsic parameters, the rectified extrinsic parameters and the second collected data are explained. Specifically, the corresponding plane features and edge features are extracted from the key frames in the de-distorted correction data. Thereafter, a nonlinear optimization problem is established jointly with the calibration data, the second acquisition...

Embodiment 3

[0070] like image 3 As shown, in the embodiment of the third aspect of the present invention, the correction data includes a plurality of frame data, and the step of determining the distance residual according to the correction data specifically includes:

[0071] Step 302, determining the target frame data in the correction data;

[0072] Step 304, extracting the feature information in the target frame data, and determining the distance residual according to the feature information;

[0073] Wherein, the distance residual includes point-line distance residual and point-plane distance residual.

[0074] In this embodiment, the vehicle-mounted radar collects data frame by frame, and correspondingly, both the first collected data and the corrected data obtained by de-distorting include a plurality of frame data. On this basis, following the foregoing embodiments, an expanded description is given on how to determine the distance residual based on the correction data. Specific...

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Abstract

The invention provides a calibration external parameter determination method and device, an engineering vehicle and a readable storage medium. The calibration external parameter determination method comprises the following steps: acquiring first acquisition data of a vehicle-mounted radar and second acquisition data of an inertial measurement device; determining initial external parameters according to the first acquisition data, the second acquisition data and a hand-eye calibration method; performing distortion removal processing on the first acquisition data through the initial external parameter and the second acquisition data to obtain correction data; determining an iteration external parameter according to the initial external parameter, the correction data and the second acquisition data; on the basis that the iteration external parameters meet preset conditions, determining calibration external parameters according to the iteration external parameters; and replacing the initial external parameter with the iteration external parameter based on the condition that the iteration external parameter does not meet the preset condition. Therefore, the technical effects of optimizing the calibration external parameter determination method, improving the calibration external parameter updating accuracy, improving the vehicle automatic driving safety and reliability and reducing the vehicle automatic driving hardware cost are achieved.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a method and device for determining external parameters of calibration, an engineering vehicle and a readable storage medium. Background technique [0002] In the current unmanned driving system, lidar and inertial measurement unit are relatively common sensors, which are often used in multi-sensor fusion to realize the functional requirements of the vehicle's autonomous positioning, planning, decision-making, and control. Among them, the external parameter calibration of the sensor is the basic module of the multi-sensor fusion system. [0003] In the related art, the external parameter calibration of the sensor includes a tool measurement method and a hand-eye calibration method. The efficiency of the tool measurement method is low, there is a large measurement error, and the original position changes due to road bumps, collisions and other reasons when the v...

Claims

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Application Information

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IPC IPC(8): G06T7/80G06T7/181G06T5/00
CPCG06T7/80G06T7/181G06T2207/30252G06T5/80
Inventor 胡家露赵秦川谢聪
Owner SANY SPECIAL PURPOSE VEHICLE CO LTD