A vehicle-mounted laser radar automatic calibration system and method

Abstract

The present invention provides an automatic calibration system and method for a vehicle-mounted laser radar, and belongs to the field of sensor calibration technology. The calibration system includes a controller, a designated area for parking a vehicle to be calibrated, at least one calibration object, and at least three vehicle positioning devices; each calibration object is fixedly arranged on the periphery of the boundary line of the designated area, and each calibration object is fixedly arranged on one side of the designated area, which is the front direction of the vehicle to be calibrated; each vehicle positioning device is fixedly arranged on the boundary line of the designated area or on the periphery of the boundary line of the designated area, wherein at least one vehicle positioning device can measure the distance from the front or rear of the vehicle to be calibrated, and the remaining vehicle positioning devices can respectively measure the distance from the body of the vehicle to be calibrated, and the body position that can be measured by each vehicle positioning device is different; the controller is used to determine the calibration parameters of the vehicle-mounted laser radar. The calibration system of the present invention has the advantages of being simple, fast, and having high calibration accuracy.

Description

Technical Field

[0001] The invention relates to an automatic calibration system and method for a vehicle-mounted laser radar, and belongs to the technical field of sensor calibration. Background Art

[0002] Multi-line LiDAR is one of the indispensable sensors in the field of autonomous driving, and calibration of multi-line LiDAR is an indispensable prerequisite for LiDAR application. Especially after autonomous driving vehicles tend to be industrialized, how to quickly, simply and automatically calibrate multi-line LiDAR, thereby reducing calibration time and improving production line capacity, has important practical significance. On-board multi-line LiDAR calibration is to convert the multi-line LiDAR point cloud from the LiDAR coordinate system to the vehicle coordinate system, obtain the rotation matrix and translation matrix, that is, to solve the three attitude angles (roll angle, pitch angle, heading angle) and three translation vectors (x, y, z direction translation) of the LiDAR relative to the vehicle coordinate system.

[0003] The traditional calibration method is to place calibration objects around the laser radar, obtain the relative position between the calibration objects and the laser radar by measurement, and then select and evaluate the three attitude angles and three translation vectors one by one to finally find the appropriate parameter values. This method is used for conventional multi-line laser radar calibration, but because the position of the calibration object needs to be measured, the calibration accuracy is easily affected by the measurement error of the calibration object position and the technical level of the calibrator, and the controllability is low. In addition, the calibration speed is slow and the automation level is low. Especially when there is more than one multi-line laser radar on the vehicle, multiple calibration objects need to be placed and measured, and calibration is performed radar by radar and parameter by parameter, which is not conducive to application in the field of autonomous driving vehicle industrialization.

[0004] In the invention patent application document with application publication number CN111175725A, an automatic calibration system and method for a vehicle-mounted multi-line laser radar are disclosed. The calibration system in the document includes a rack rail device, a slider device, a calibration object, a control device, and a laser transmitting and receiving device. The calibration system is relatively complex. Although the calibration method based on the calibration system does not require calibration of each parameter one by one, before calibration, the vehicle needs to be parked in the area formed by the rack rail device, and the vehicle is required to be parked perpendicular to the transverse rack. After the vehicle is parked, the longitudinal slide is adjusted. The longitudinal slide rail is used to fit the outer side of the wheel; during the calibration process, when measuring the coordinates of the calibration object in the vehicle coordinate system, it is necessary to convert between the slide rail coordinate system and the vehicle coordinate system, which is cumbersome; and the calibration method also has the following problems: in actual operation, if the vehicle cannot be accurately controlled to be perpendicular to the transverse rack, the longitudinal slide rail cannot be fit to the outer side of the wheel, and then it cannot be guaranteed that the longitudinal axis of the established vehicle coordinate system coincides with the actual longitudinal center line of the vehicle, thereby affecting the final calibration accuracy; moreover, the position of the calibration object still needs to be measured, and inaccurate measurement will also affect the calibration accuracy. Summary of the invention

[0005] The object of the present invention is to provide a vehicle-mounted laser radar automatic calibration system and method to solve the problem of poor calibration accuracy when using existing calibration systems and methods to calibrate vehicle-mounted laser radar.

[0006] In order to achieve the above-mentioned object, the present invention provides a vehicle-mounted laser radar automatic calibration system, which includes: a controller, a designated area for parking a vehicle to be calibrated, at least one calibration object and at least three vehicle positioning devices; wherein,

[0007] Each calibration object is fixedly arranged at the periphery of the boundary line of the designated area, and each calibration object is fixedly arranged at one side of the designated area, which side is the direction of the front of the vehicle to be calibrated;

[0008] Each vehicle positioning device is fixedly arranged on the boundary line of the designated area or on the periphery of the boundary line of the designated area, wherein at least one vehicle positioning device can measure the distance from the front or rear of the vehicle to be calibrated, and the remaining vehicle positioning devices can respectively measure the distance from the body of the vehicle to be calibrated, and each vehicle positioning device can measure a different body position;

[0009] A controller, for determining the precise position of the vehicle to be calibrated in the designated area according to the position of the designated area, the position of each vehicle positioning device, the distance measured by each vehicle positioning device, and the vehicle body parameters; and for determining the calibration parameters of the vehicle-mounted laser radar in combination with the position of each calibration object, the precise position of the vehicle to be calibrated in the designated area, and the point cloud coordinate data of each calibration object measured by the vehicle-mounted laser radar;

[0010] The calibration parameters are the roll angle, pitch angle, heading angle, translation in the x-direction, translation in the y-direction, and translation in the z-direction of the vehicle-mounted laser radar relative to the vehicle coordinate system.

[0011] The beneficial effects of the calibration system are as follows: the calibration system of the present invention is used to calibrate the on-board laser radar on vehicles parked in a designated area, and has the following advantages: (1) the calibration system only includes a calibration object, a vehicle positioning device and a controller, and has a simple structure and low cost compared with the existing calibration system; (2) the position of each calibration object and each vehicle positioning device in the calibration system is fixed, that is, the position of the calibration object, the position of the vehicle positioning device, and the relative position between the calibration object and the vehicle positioning device are all fixed and known, and do not need to be measured, thereby avoiding the influence of measurement errors on the calibration accuracy; and After the vehicle to be calibrated is parked in the designated area, the precise position of the vehicle to be calibrated in the designated area can be calculated in combination with the position of the designated area, the position of each vehicle positioning device, the distance measured by each vehicle positioning device, and the body parameters. Then, in combination with the position of each calibration object, the precise position of the vehicle to be calibrated in the designated area and the point cloud coordinate data of each calibration object measured by the on-board laser radar, the on-board laser radar can be calibrated quickly and accurately, thereby ensuring the calibration accuracy of the on-board laser radar. In summary, when the calibration system of the present invention is used to calibrate the on-board laser radar, it has the advantages of being simple, fast, and having high calibration accuracy.

[0012] Furthermore, in the above-mentioned calibration system, when the system only includes three vehicle positioning devices, the side where one of the vehicle positioning devices is located is the front or rear direction of the vehicle to be calibrated, and the other two vehicle positioning devices are fixedly arranged on the same side of the designated area, which is the direction of a certain side of the vehicle body to be calibrated and the two vehicle positioning devices can measure different vehicle body positions.

[0013] Furthermore, in the above-mentioned calibration system, when the system only includes three vehicle positioning devices, the side where one of the vehicle positioning devices is located is the direction of the front or rear of the vehicle to be calibrated, and the other two vehicle positioning devices are fixedly arranged on the opposite sides of the designated area, and the opposite sides are respectively the directions of the two sides of the vehicle body to be calibrated and the positions of the two vehicle positioning devices are asymmetrical.

[0014] Furthermore, in the above calibration system, the vehicle positioning device is a laser ranging device.

[0015] Furthermore, in the above calibration system, the system also includes a data transmission device, and the data transmission device is used to realize data transmission between each vehicle positioning device and the controller.

[0016] Furthermore, in the above calibration system, the system also includes a calibration switch, and the calibration switch is used to send a start calibration instruction to the controller, and the calibration switch is a physical switch, a physical button, a mobile APP or a background.

[0017] The present invention also provides a method for automatic calibration of a vehicle-mounted laser radar, the method comprising the following steps:

[0018] Obtain the position of the designated area for parking the vehicle to be calibrated, the position of each calibration object, the position of each vehicle positioning device, and the point cloud coordinate data of each calibration object measured by the vehicle-mounted laser radar; wherein, the number of calibration objects is at least one, the number of vehicle positioning devices is at least three, each calibration object is fixedly set on the periphery of the boundary line of the designated area, and each calibration object is fixedly set on one side of the designated area, which side is the front direction of the vehicle to be calibrated; each vehicle positioning device is fixedly set on the boundary line of the designated area or on the periphery of the boundary line of the designated area, wherein at least one vehicle positioning device can measure the distance from it to the front or rear of the vehicle to be calibrated, and the remaining vehicle positioning devices can respectively measure the distance from them to the body of the vehicle to be calibrated, and the body position that can be measured by each vehicle positioning device is different;

[0019] Determine the precise position of the vehicle to be calibrated in the designated area according to the position of the designated area, the position of each vehicle positioning device, the distance measured by each vehicle positioning device, and the vehicle body parameters;

[0020] The calibration parameters of the vehicle-mounted laser radar are determined by combining the positions of the calibration objects, the precise position of the vehicle to be calibrated in the specified area, and the point cloud coordinate data of the calibration objects measured by the vehicle-mounted laser radar;

[0021] The calibration parameters are the roll angle, pitch angle, heading angle, translation in the x-direction, translation in the y-direction, and translation in the z-direction of the vehicle-mounted laser radar relative to the vehicle coordinate system.

[0022] The beneficial effects of the calibration method are as follows: the positions of each calibration object and each vehicle positioning device are fixed, that is, the position of the calibration object, the position of the vehicle positioning device, and the relative position between the calibration object and the vehicle positioning device are all fixed and known, and do not need to be measured, thereby avoiding the influence of measurement errors on the calibration accuracy; and for the vehicles to be calibrated parked in the designated area, the precise position of the vehicle to be calibrated in the designated area can be calculated in combination with the position of the designated area, the position of each vehicle positioning device, the distance measured by each vehicle positioning device, and the body parameters, and then the position of each calibration object, the precise position of the vehicle to be calibrated in the designated area and the point cloud coordinate data of each calibration object measured by the vehicle-mounted laser radar can be combined to quickly and accurately calibrate the vehicle-mounted laser radar, thereby ensuring the calibration accuracy of the vehicle-mounted laser radar; in summary, when the calibration method of the present invention is used to calibrate the vehicle-mounted laser radar, it has the advantages of being simple, fast, and having high calibration accuracy.

[0023] Furthermore, in order to improve the calibration accuracy, in the above-mentioned calibration method, the method also includes obtaining multiple sets of point cloud coordinate data corresponding to each calibration object measured by the vehicle-mounted laser radar by changing the parking position of the vehicle in the specified area, and then determining the calibration parameters of the vehicle-mounted laser radar in combination with the multiple sets of point cloud coordinate data corresponding to each calibration object.

[0024] Furthermore, in the above calibration method, when there are only three vehicle positioning devices, the side where one of the vehicle positioning devices is located is the front or rear direction of the vehicle to be calibrated, and the other two vehicle positioning devices are fixedly arranged on the same side of the designated area, which is the direction of a certain side of the vehicle body to be calibrated and the two vehicle positioning devices can measure different body positions.

[0025] Furthermore, in the above calibration method, when there are only three vehicle positioning devices, the side where one of the vehicle positioning devices is located is the direction of the front or rear of the vehicle to be calibrated, and the other two vehicle positioning devices are fixed on the opposite sides of the designated area, and the opposite sides are respectively the directions of the two sides of the vehicle body to be calibrated and the positions of the two vehicle positioning devices are asymmetrical. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the structure of the vehicle-mounted laser radar automatic calibration system in the system embodiment of the present invention;

[0027] Figure 2 is a flow chart of an automatic calibration method for a vehicle-mounted laser radar in an embodiment of the system of the present invention;

[0028] Figure 3 is another arrangement schematic diagram when there are three laser ranging devices in the system embodiment of the present invention;

[0029] Figure 4 It is another arrangement schematic diagram when there are three laser ranging devices in the system embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of an arrangement when there are four laser ranging devices in the system embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0032] The vehicle-mounted LiDAR is installed and fixed on the top of the vehicle, and the coordinate systems of the two have a definite relative position relationship. To determine the calibration parameters of the vehicle-mounted LiDAR, the three attitude angles (roll angle, pitch angle, heading angle) and three translation vectors (x-direction translation, y-direction translation, z-direction translation) of the LiDAR relative to the vehicle coordinate system are solved.

[0033] In the following embodiments, the vehicle-mounted laser radar is a multi-line laser radar as an example for explanation. When the vehicle-mounted laser radar is a single-line laser radar, the calibration process is similar and will not be repeated.

[0034] System Example:

[0035] like Figure 1 As shown, the vehicle-mounted laser radar automatic calibration system of this embodiment (hereinafter referred to as the calibration system) includes:

[0036] A designated area for parking vehicles to be calibrated;

[0037] 2 calibration objects, each of which is fixedly arranged outside the boundary line of the designated area, and each of which is fixedly arranged on one side of the designated area, which side is the direction of the front of the vehicle to be calibrated;

[0038] 3 laser distance measuring devices, each laser distance measuring device is fixedly set outside the boundary line of the designated area, one of the laser distance measuring devices is located on the side facing the rear of the vehicle to be calibrated, and the other two laser distance measuring devices are fixedly set on the same side of the designated area, which is one side of the vehicle body to be calibrated (according to Figure 1 The orientation shown in the figure is the right side of the vehicle body) and the two laser ranging devices can measure different positions of the vehicle body. Among them, the laser ranging device arranged on the side facing the rear of the vehicle can measure the distance to the rear of the vehicle to be calibrated by emitting a laser beam, and the two laser ranging devices arranged on the right side of the vehicle body can respectively measure the distance to the vehicle body to be calibrated by emitting a laser beam, and the two laser ranging devices can measure different positions of the vehicle body; among them, the laser ranging device can use a single-point laser radar with high ranging accuracy; in this embodiment, a laser ranging device is selected as the vehicle positioning device, and as other implementations, other devices with ranging functions can also be selected as the vehicle positioning device.

[0039] 3 data transparent transmission devices (such as WiFi modules), used to realize data transmission between each laser ranging device and the calibration controller by wireless network transmission; as another embodiment, the laser ranging device and the calibration controller can also be connected and transmit data through RS232 or TTL level interface, that is, data transmission is carried out by wired transmission;

[0040] The calibration switch is used to send a start calibration instruction to the calibration controller; the calibration switch can be a physical switch or a button, and the start calibration instruction is sent by manually triggering the switch or button; it can also be a mobile APP or background, and the start calibration instruction is sent through the mobile APP or background. In this embodiment, the calibration controller receives the start calibration instruction sent by the calibration switch through the data transparent transmission device, and the calibration switch and the data transparent transmission device can be connected by a physical wire harness or by wireless network transmission to transmit data.

[0041] The calibration controller (i.e., the controller) is used to implement the following according to the position of the designated area, the position of each laser ranging device, the distance measured by each laser ranging device, the vehicle body parameters, the position of each calibration object, and the point cloud coordinate data of each calibration object measured by the vehicle-mounted laser radar: Figure 2 The vehicle-mounted laser radar automatic calibration method (hereinafter referred to as the calibration method) shown in the figure is used to determine the calibration parameters of the vehicle-mounted laser radar.

[0042] Among them, the calibration controller can be installed in the vehicle, in which case the vehicle controller can be used as the calibration controller; or a controller can be specially set up as the calibration controller to implement the calibration method, as long as the calibration controller is communicated with the vehicle controller. In this case, the calibration controller can be in the background or set near a designated area.

[0043] The calibration method of this embodiment is described in detail below. The calibration method includes the following steps:

[0044] (1) Obtaining the location of the designated area, the location of each calibration object, the location of each laser ranging device, and the point cloud coordinate data of each calibration object measured by the vehicle-mounted laser radar; wherein the designated area is used to park the vehicle to be calibrated;

[0045] (2) Determine the precise position of the vehicle to be calibrated within the designated area based on the position of the designated area, the position of each laser ranging device, the distance measured by each laser ranging device, and the vehicle body parameters;

[0046] In this embodiment, since each laser ranging device is fixedly arranged on the periphery of the boundary line of the designated area, it is necessary to first determine the distances from the rear and body of the vehicle to be calibrated to the boundary of the corresponding designated area in combination with the position of the designated area, the position of each laser ranging device and the distance measured by each laser ranging device, and then determine the precise position of the vehicle to be calibrated in the designated area in combination with the body parameters.

[0047] As another implementation, each laser ranging device can also be fixedly set on the boundary line of the designated area. In this case, the distance measured by the laser ranging device is the distance from two different positions of the rear and body of the vehicle to be calibrated to the boundary of the designated area.

[0048] (3) The calibration parameters of the vehicle-mounted LiDAR are determined by combining the position of each calibration object, the precise position of the vehicle to be calibrated in the specified area, and the point cloud coordinate data of each calibration object measured by the vehicle-mounted LiDAR.

[0049] Specifically, the coordinates of each calibration object in the vehicle coordinate system can be obtained by using the position of each calibration object and the precise position of the vehicle to be calibrated in the specified area. The coordinates of each calibration object in the laser radar coordinate system can be obtained by using the point cloud coordinate data of each calibration object measured by the vehicle-mounted laser radar. Since one calibration object corresponds to a set of point cloud coordinate data for one parking position of the vehicle, and thus for one parking position of the vehicle, one calibration object corresponds to one coordinate in the vehicle coordinate system and one coordinate in the laser radar coordinate system (hereinafter referred to as one calibration object corresponding to one set of coordinates), two calibration objects are arranged in the calibration system of this embodiment, then two sets of coordinates can be obtained for one parking position of the vehicle, and finally the vehicle-mounted laser radar is calibrated using these two sets of coordinates.

[0050] In the calibration system of this embodiment, only two calibration objects are arranged, and the calibration system has a simple structure and low cost. In practical applications, the number of calibration objects can be set according to actual needs, as long as there is at least one calibration object and each calibration object is fixedly set on one side of the designated area, which is the front direction of the vehicle to be calibrated. It is easy to know that without changing the parking position of the vehicle, the more calibration objects there are in the calibration system, the more sets of coordinates can be obtained for one parking position of the vehicle, so that more sets of coordinates can be used for vehicle-mounted laser radar calibration, which can improve the calibration accuracy.

[0051] As another embodiment, in order to further improve the calibration accuracy, when the number of calibration objects is fixed, the parking position of the vehicle in the specified area can be changed (for example, the parking position of the vehicle can be changed manually, by remote control or automatic driving, etc.), to obtain multiple sets of point cloud coordinate data corresponding to each calibration object measured by the on-board laser radar, and then determine the calibration parameters of the on-board laser radar in combination with the multiple sets of point cloud coordinate data corresponding to each calibration object; for example, when there are n calibration objects (n≥1), the parking position of the vehicle is changed m times (m≥1), because for one parking position of the vehicle, one calibration object corresponds to a set of coordinates, then for m parking positions of the vehicle, one calibration object corresponds to m sets of coordinates, then n calibration objects correspond to n×m sets of coordinates, and finally these n×m sets of coordinates are used to calibrate the on-board laser radar, which can further improve the calibration accuracy.

[0052] In this embodiment, only three laser distance measuring devices are arranged. The arrangement of these three laser distance measuring devices is as follows: Figure 1 As shown; As another embodiment, the arrangement of the three laser ranging devices can also be adjusted according to actual needs, for example, arranged as follows Figure 3As shown in the figure, at this time, one of the laser distance measuring devices is located on the side facing the front of the vehicle to be calibrated, and can measure the distance from it to the front of the vehicle to be calibrated; the other two laser distance measuring devices are fixedly set on the same side of the designated area, which is a side of the vehicle body to be calibrated (according to Figure 2 The direction shown in the figure is the right side of the vehicle body) and the two laser distance measuring devices can measure different positions of the vehicle body; or they are arranged as follows Figure 4 As shown, at this time, one of the laser distance measuring devices is located on the side facing the rear of the vehicle to be calibrated, and the other two laser distance measuring devices are fixedly arranged on the opposite sides of the designated area, and the opposite sides are respectively the two sides of the vehicle body to be calibrated (according to Figure 4 The directions shown in the figure are the directions of the left side of the vehicle body and the right side of the vehicle body) and the positions of the two laser ranging devices are asymmetrical.

[0053] In order to improve the calculation accuracy of the precise position of the vehicle to be calibrated in the specified area, and thus improve the calibration accuracy, more than three laser ranging devices can be arranged, and the arrangement position of the laser ranging devices can be adjusted according to actual needs, as long as each laser ranging device is fixedly set on the boundary line of the specified area or on the periphery of the boundary line of the specified area, at least one laser ranging device can measure the distance to the front or rear of the vehicle to be calibrated, and the remaining laser ranging devices can respectively measure the distance to the body of the vehicle to be calibrated, and each laser ranging device can measure a different body position; for example, when four laser ranging devices are arranged, it can be arranged according to Figure 5 In the arrangement shown in FIG. 1 , one of the laser distance measuring devices is located on the side facing the rear of the vehicle to be calibrated, and the other two laser distance measuring devices are fixedly arranged on the same side of the designated area, which is one side of the vehicle body to be calibrated (according to Figure 5 The direction shown in is the right side of the vehicle body) and the two laser ranging devices can measure different positions of the vehicle body. The side where the last laser ranging device is located is the left side of the vehicle body, and the position of the laser ranging device is asymmetrical with the position of the laser ranging device facing the right side of the vehicle body.

[0054] In the calibration system of this embodiment, the positions of the calibration object and each laser ranging device are fixed, that is, the position of the calibration object, the position of the laser ranging device, and the relative position between the calibration object and the laser ranging device are all fixed and known, and do not need to be measured, thereby avoiding the influence of measurement errors on the calibration accuracy; and after the vehicle to be calibrated is parked in the designated area, the precise position of the vehicle to be calibrated in the designated area can be calculated by combining the position of the designated area, the position of each laser ranging device, the distance measured by each laser ranging device and the vehicle body parameters, and then combined with the position of each calibration object, the precise position of the vehicle to be calibrated in the designated area and the point cloud coordinate data of each calibration object measured by the on-board laser radar, the on-board laser radar can be calibrated quickly and accurately, thereby ensuring the calibration accuracy of the on-board laser radar.

[0055] In summary, when using the calibration system of the present invention to calibrate a vehicle-mounted laser radar, there are several ways to obtain more sets of coordinates to improve the calibration accuracy: (1) When the number of calibration objects is fixed, more sets of coordinates are obtained by changing the parking position of the vehicle; (2) Without changing the parking position of the vehicle, more sets of coordinates are obtained by increasing the number of calibration objects in the calibration system; (3) The parking position of the vehicle and the number of calibration objects are changed at the same time to obtain more sets of coordinates; In practical applications, different methods can be selected to improve the calibration accuracy according to actual needs. In particular, if the calibration accuracy can meet the accuracy requirements when only one set of coordinates is used for calibration, only one calibration object can be set in the calibration system without changing the parking position of the vehicle.

[0056] Method Example:

[0057] The automatic calibration method of the vehicle-mounted laser radar of this embodiment (hereinafter referred to as the calibration method) is as follows: Figure 2 As shown, the calibration method has been described in detail in the system embodiment and will not be repeated here.

[0058] The directional terms such as front, back, left, and right in the above embodiments are all provided in conjunction with the corresponding drawings for the convenience of understanding the technical solutions of the present invention and do not constitute a limitation to the technical solutions of the present invention.

Claims

1. A vehicle-mounted laser radar automatic calibration system, characterized in that: The system comprises: a controller, a designated area for parking a vehicle to be calibrated, at least one calibration object and at least three vehicle positioning devices; wherein: Each calibration object is fixedly arranged at the periphery of the boundary line of the designated area, and each calibration object is fixedly arranged at one side of the designated area, which side is the direction of the front of the vehicle to be calibrated; Each vehicle positioning device is fixedly arranged on the boundary line of the designated area or on the periphery of the boundary line of the designated area, wherein at least one vehicle positioning device can measure the distance from the front or rear of the vehicle to be calibrated, and the remaining vehicle positioning devices can respectively measure the distance from the body of the vehicle to be calibrated, and each vehicle positioning device can measure a different body position; A controller, for determining the precise position of the vehicle to be calibrated in the designated area according to the position of the designated area, the position of each vehicle positioning device, the distance measured by each vehicle positioning device, and the vehicle body parameters; and for determining the calibration parameters of the vehicle-mounted laser radar in combination with the position of each calibration object, the precise position of the vehicle to be calibrated in the designated area, and the point cloud coordinate data of each calibration object measured by the vehicle-mounted laser radar; The calibration parameters are the roll angle, pitch angle, heading angle, translation in the x-direction, translation in the y-direction, and translation in the z-direction of the vehicle-mounted laser radar relative to the vehicle coordinate system.

2. The vehicle-mounted laser radar automatic calibration system according to claim 1, characterized in that: When the system includes only three vehicle positioning devices, one of the vehicle positioning devices is located on a side that is the front or rear direction of the vehicle to be calibrated, and the other two vehicle positioning devices are fixedly arranged on the same side of the designated area, which is the direction of a certain side of the vehicle body to be calibrated, and the two vehicle positioning devices can measure different body positions.

3. The vehicle-mounted laser radar automatic calibration system according to claim 1, characterized in that: When the system includes only three vehicle positioning devices, one side of one of the vehicle positioning devices is located in the direction of the front or rear of the vehicle to be calibrated, and the other two vehicle positioning devices are fixed on the opposite sides of the designated area, which are respectively the directions of the two sides of the vehicle body to be calibrated and the positions of the two vehicle positioning devices are asymmetrical.

4. The vehicle-mounted laser radar automatic calibration system according to any one of claims 1 to 3, characterized in that: The vehicle positioning device is a laser distance measuring device.

5. The vehicle-mounted laser radar automatic calibration system according to any one of claims 1 to 3, characterized in that: The system also includes a data transmission device, which is used to realize data transmission between each vehicle positioning device and the controller.

6. The vehicle-mounted laser radar automatic calibration system according to any one of claims 1 to 3, characterized in that: The system also includes a calibration switch, which is used to send a start calibration instruction to the controller. The calibration switch is a physical switch, a physical button, a mobile APP or a background.

7. A method for automatic calibration of a vehicle-mounted laser radar, characterized in that: The method comprises the following steps: Obtain the position of the designated area for parking the vehicle to be calibrated, the position of each calibration object, the position of each vehicle positioning device, and the point cloud coordinate data of each calibration object measured by the vehicle-mounted laser radar; wherein, the number of calibration objects is at least one, the number of vehicle positioning devices is at least three, each calibration object is fixedly set on the periphery of the boundary line of the designated area, and each calibration object is fixedly set on one side of the designated area, which side is the front direction of the vehicle to be calibrated; each vehicle positioning device is fixedly set on the boundary line of the designated area or on the periphery of the boundary line of the designated area, wherein at least one vehicle positioning device can measure the distance from it to the front or rear of the vehicle to be calibrated, and the remaining vehicle positioning devices can respectively measure the distance from them to the body of the vehicle to be calibrated, and the body position that can be measured by each vehicle positioning device is different; Determine the precise position of the vehicle to be calibrated in the designated area according to the position of the designated area, the position of each vehicle positioning device, the distance measured by each vehicle positioning device, and the vehicle body parameters; The calibration parameters of the vehicle-mounted laser radar are determined by combining the positions of the calibration objects, the precise position of the vehicle to be calibrated in the specified area, and the point cloud coordinate data of the calibration objects measured by the vehicle-mounted laser radar; The calibration parameters are the roll angle, pitch angle, heading angle, translation in the x-direction, translation in the y-direction, and translation in the z-direction of the vehicle-mounted laser radar relative to the vehicle coordinate system.

8. The automatic calibration method for vehicle-mounted laser radar according to claim 7, characterized in that: The method also includes changing the parking position of the vehicle in the specified area to obtain multiple sets of point cloud coordinate data corresponding to each calibration object measured by the on-board laser radar, and then determining the calibration parameters of the on-board laser radar in combination with the multiple sets of point cloud coordinate data corresponding to each calibration object.

9. The automatic calibration method for a vehicle-mounted laser radar according to claim 7 or 8, characterized in that: When there are only three vehicle positioning devices, one of the vehicle positioning devices is located on the side facing the front or rear of the vehicle to be calibrated, and the other two vehicle positioning devices are fixedly arranged on the same side of the designated area, which is the direction of a certain side of the vehicle body to be calibrated, and the two vehicle positioning devices can measure different body positions.

10. The automatic calibration method for a vehicle-mounted laser radar according to claim 7 or 8, characterized in that: When there are only three vehicle positioning devices, one of the vehicle positioning devices is located on the side facing the front or rear of the vehicle to be calibrated, and the other two vehicle positioning devices are fixed on the opposite sides of the designated area, which are respectively facing the two sides of the vehicle body to be calibrated and the positions of the two vehicle positioning devices are asymmetrical.

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