Method and device for calibrating laser radar and GPS (Global Positioning System) based on road-vehicle fusion perception

Abstract

The invention relates to the technical field of automatic driving road-vehicle fusion perception, and provides a laser radar and GPS calibration method and device for road-vehicle fusion perception. The method comprises the following steps: based on a target vehicle GPS target reference point, obtaining the mapping of a vehicle-mounted laser radar point cloud in a GPS global coordinate system and the mapping of a roadside laser radar point cloud in the GPS global coordinate system, and respectively completing the calibration of vehicle-mounted sensing data and the calibration of roadside sensing data; mapping of the vehicle end sensing data and the roadside sensing data to the GPS global coordinate system at the same time is achieved, and calibration of the road-vehicle fusion sensing data is achieved. The invention provides a stable and reliable space synchronization method, the laser point cloud of the target vehicle GPS is captured with high precision, the GPS elevation noise data is eliminated, the laser radar point and the GPS coordinate of the GPS are effectively registered, the calibration precision is improved, and the automation and the intelligentization of the space-time synchronization marking of the vehicle end and the roadside equipment are realized.

Description

technical field [0001] The invention relates to the technical field of automatic driving road-vehicle fusion perception, in particular to a laser radar and GPS calibration method and device for road-vehicle fusion perception. Background technique [0002] 3D LiDAR is widely used in the field of autonomous driving perception due to its wide range, high precision and good adaptability. It provides three-dimensional environmental point cloud information for the vehicle by scanning the surrounding environment of the autonomous driving vehicle. As a high-precision positioning device, GPS cooperates with LiDAR and complements each other to provide accurate geographic environment data and target location information for autonomous vehicles. Due to the limited perception of bicycles, autonomous vehicles will have problems such as large blind spots and limited sensing distances when they work alone. The roadside perception unit is often used as a blind-filling device to perform fusio...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the present invention provides a laser radar and GPS calibration method and device for road-vehicle fusion perception to solve the problem that automatic driving vehicles cannot provide accurate geographic environment data and target location information in the prior art

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