A method, device, vehicle, equipment and medium for calibrating external parameters of a sensor

Abstract

The present application discloses a method for calibrating the external parameters of a sensor, belonging to the field of intelligent driving and applicable to scenarios such as highways, logistics, and urban traffic. The method includes obtaining in advance the spatial coordinates of the domain controller and a preset number of wireless ranging devices in the vehicle coordinate system, as well as measuring the distances between the sensor and the domain controller and the preset number of wireless ranging devices respectively, and calculating the spatial position coordinates of the sensor in the vehicle coordinate system; obtaining the third attitude information of the sensor in the vehicle coordinate system by using the first attitude information detected by the attitude meter in the sensor and the second attitude information detected by the attitude meter in the domain controller; and performing external parameter calibration on the sensor by using the spatial position coordinates and the third attitude information. The present application optimizes the time and location limitations of sensor external parameter calibration, can complete the calibration process faster and more efficiently, can perform real-time calibration, saves time and effort, and avoids the errors of manual measurement.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and particularly to a method, device, vehicle, equipment and medium for calibrating external parameters of sensors. Background Art

[0002] Due to the rapid development of intelligent driving system solutions, the single-vehicle loading volume of in-vehicle high-precision sensors is also increasing. Therefore, the calibration accuracy of sensors has become increasingly important. The calibration of sensors is divided into two types: internal parameters and external parameters. This invention mainly focuses on the external parameter calibration of sensors, that is, the relative position of the sensor with respect to the vehicle coordinate system. Because the vehicle jolts caused by the operating roads of trucks and other related factors will cause certain changes in the position of the sensor, and over time, the position of the sensor will change. Therefore, it is necessary to calibrate the sensor regularly so that the sensor can accurately sense data.

[0003] Currently, mainstream manufacturers all use manual measurement or production line calibration methods for external parameter maintenance work. Manual measurement is not only time-consuming and laborious, but also has relatively large errors. Production line calibration not only requires huge investment costs and the position is fixed. At this time, a fast sensor external parameter calibration method is needed to improve the calibration efficiency and accuracy. Summary of the Invention

[0004] This application mainly provides a method, device, vehicle, equipment and medium for calibrating external parameters of sensors, so as to solve the problems existing in the prior art, such as large errors in sensor position calibration, calibration being restricted by the site and manpower, and being time-consuming and laborious.

[0005] To achieve the above object, a technical solution adopted by this application is: to provide a method for calibrating external parameters of sensors, which includes:

[0006] According to the first spatial coordinates of the domain controller in the vehicle coordinate system and the second spatial coordinates of a preset number of wireless ranging devices obtained in advance, and the measured distances between the sensor and the domain controller and the preset number of wireless ranging devices respectively, calculate the spatial position coordinates of the sensor in the vehicle coordinate system, where the preset number is a natural number not less than 2, and the number of the second spatial coordinates is the same as the preset number;

[0007] Use the first attitude information detected by the attitude instrument in the sensor and the second attitude information detected by the attitude instrument in the domain controller to obtain the third attitude information of the sensor in the vehicle coordinate system;

[0008] Generate an external parameter file using the spatial position coordinates and the third attitude information, and perform external parameter calibration on the sensor through the external parameter file.

[0009] Another technical solution adopted by this application is: to provide a device for calibrating external parameters of sensors, which includes:

[0010] A position acquisition unit, which is configured to calculate the spatial position coordinates of a sensor in a vehicle coordinate system based on the pre-acquired first spatial coordinates of a domain controller in the vehicle coordinate system and the second spatial coordinates of a preset number of wireless ranging devices, and the measured distances between the sensor and the domain controller and the preset number of wireless ranging devices respectively, where the preset number is a natural number not less than 2, and the number of the second spatial coordinates is the same as the preset number;

[0011] An attitude acquisition unit, which is configured to obtain the third attitude information of the sensor in the vehicle coordinate system by using the first attitude information detected by an attitude meter in the sensor and the second attitude information detected by an attitude meter in the domain controller;

[0012] An extrinsic parameter calibration unit, which is configured to generate an extrinsic parameter file by using the spatial position coordinates and the third attitude information, and perform extrinsic parameter calibration on the sensor through the extrinsic parameter file.

[0013] Another technical solution adopted in this application is: to provide an intelligent vehicle, which includes the sensor extrinsic parameter calibration device in Solution 2.

[0014] Another technical solution adopted in this application is: to provide a computer device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores computer instructions executable by the at least one processor, and the at least one processor operates the computer instructions to execute the sensor extrinsic parameter calibration method in Solution 1.

[0015] Another technical solution adopted in this application is: to provide a computer-readable storage medium, which stores computer instructions, and the computer instructions are operated to execute the sensor extrinsic parameter calibration method in Solution 1.

[0016] The beneficial effects that the technical solution of this application can achieve are: This application designs a sensor extrinsic parameter calibration method, device, vehicle, equipment and medium. This method measures the distances between the sensor and other devices through wireless ranging, and obtains the position coordinates of the sensor in the vehicle coordinate system according to the accurate coordinate values of other devices installed at fixed positions on the vehicle and the distances between the sensor and other devices in advance. The attitude information of the sensor is obtained through the calculation between the attitude meter in the sensor and the attitude meter in the domain controller, and an extrinsic parameter file is generated by the position coordinates and attitude information of the sensor to perform extrinsic parameter calibration on the sensor. This application optimizes the time and location limitations of sensor extrinsic parameter calibration. Compared with the traditional mode, the calibration process can be completed faster and more efficiently, and real-time calibration can be performed, saving time and effort. In the process, the errors caused by manual measurement are also avoided, and more accurate calibration can be performed when the accuracy of the sensor is accurate enough. Description of the Drawings

[0017] Figure 1 This is a schematic diagram of a specific implementation of an external parameter calibration method for a sensor in this application;

[0018] Figure 2 This is a schematic diagram of a specific implementation of an external parameter calibration device for a sensor in this application. Specific implementation

[0019] The following elaborates on the preferred embodiments of this application in conjunction with the accompanying drawings, so that the advantages and features of this application can be more easily understood by those skilled in the art, thereby making the protection scope of this application more clearly defined.

[0020] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "including..." do not exclude the existence of additional identical elements in the process, method, article or device including the said elements.

[0021] Due to the rapid development of intelligent driving system solutions, the single-vehicle loading volume of in-vehicle high-precision sensors is also increasing. Therefore, the calibration accuracy of the sensors has become increasingly important. Due to the vehicle jolts caused by the operating roads of trucks and other related factors, the position of the sensors will change to a certain extent. Over time, the position of the sensors will change, so it is necessary to calibrate the sensors regularly to enable the sensors to accurately sense data.

[0022] Currently, mainstream manufacturers all use manual measurement or production line calibration methods for external parameter maintenance work. Manual measurement is not only time-consuming and laborious, but also has relatively large errors. Production line calibration not only incurs huge input costs but also has a fixed position. At this time, a fast external parameter calibration method for sensors is needed to improve the calibration efficiency and accuracy.

[0023] The method provided in this application can be applied to scenarios such as highways, logistics, and urban traffic.

[0024] The inventive concept of the present application is as follows: A domain controller with a wireless ranging module and an attitude meter, and multiple wireless ranging devices are installed at fixed positions on the vehicle. Since the installation positions of the domain controller and the wireless ranging devices are fixed, the spatial coordinates of the domain controller and the wireless ranging devices in the vehicle coordinate system can be accurately obtained. A sensor with a wireless ranging module and an attitude meter is installed at an appropriate position on the vehicle. The distances between the sensor and the domain controller, and the sensor and other wireless ranging devices are obtained through wireless ranging. The spatial coordinate value of the sensor is calculated based on the wireless ranging results. The attitude information of the sensor is calculated using the attitude meter in the sensor and the attitude meter in the domain controller. The external parameters of the sensor are corrected through the spatial coordinate value and the attitude information, so that the sensor can accurately sense data.

[0025] Next, the technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail with specific embodiments. The specific embodiments described below can be combined with each other to form new embodiments. For the same or similar ideas or processes described in one embodiment, they may not be repeated in other certain embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0026] Figure 1 A specific implementation manner of a method for calibrating the external parameters of a sensor according to the present application is shown.

[0027] In Figure 1 the specific implementation manner shown, a method for calibrating the external parameters of a sensor includes:

[0028] Step S101: Based on the first spatial coordinates of the domain controller in the vehicle coordinate system and the second spatial coordinates of a preset number of wireless ranging devices obtained in advance, and the measured distances between the sensor and the domain controller and the preset number of wireless ranging devices respectively, the spatial position coordinates of the sensor in the vehicle coordinate system are obtained through calculation, where the preset number is a natural number not less than 2, and the number of the second spatial coordinates is the same as the preset number.

[0029] In this specific implementation manner, since the installation positions of the domain controller and the wireless ranging devices on the vehicle are fixed, the spatial coordinates of the domain controller and the wireless ranging devices can be accurately obtained during installation. The distances between the sensor and the domain controller and the preset number of wireless ranging devices are measured respectively through the wireless ranging module in the sensor. Based on the wireless ranging results, the first spatial coordinates and the second spatial coordinates, the spatial position coordinates of the sensor are obtained through a series of calculations, which can be directly used to correct the position of the sensor.

[0030] It should be noted that since three different equations are required to ensure the solution of three unknowns, and given the coordinates of the domain controller, the coordinates of two wireless ranging devices also need to be obtained in advance. Therefore, the preset number of wireless ranging devices is not less than 2.

[0031] In a specific embodiment of the present application, the first spatial coordinates of the domain controller and the second spatial coordinates of a preset number of wireless ranging devices in the vehicle coordinate system obtained in advance include: accurately obtaining the first spatial coordinates of the domain controller and the second spatial coordinates of a preset number of wireless ranging devices in the vehicle coordinate system according to the different installation positions of the domain controller and a preset number of wireless ranging devices on the same vehicle. The obtained first spatial coordinates and second spatial coordinates are both accurate and convenient, providing a data basis for the subsequent calibration process of the sensor.

[0032] In this specific embodiment, in the vehicle coordinate system, the domain controller with a wireless ranging module and an attitude meter and a preset number of wireless ranging devices are installed at different fixed positions on the vehicle. Since the positions of the domain controller and the wireless ranging devices are fixed, the first spatial coordinates of the domain controller and the second spatial coordinates of the wireless ranging devices can be accurately obtained during installation, which is more convenient and accurate to obtain directly.

[0033] It should be noted that the determination of different fixed positions on the vehicle is determined according to the actual situation of the vehicle, and the present application does not make specific restrictions.

[0034] In a specific embodiment of the present application, measuring the distances between the sensor and the domain controller and a preset number of wireless ranging devices respectively includes: using the wireless ranging module in the sensor and the wireless ranging module in the domain control sensor to measure and obtain the first distance between the sensor and the domain controller in the vehicle coordinate system; using the wireless ranging module in the sensor and a preset number of wireless ranging devices to measure and obtain the second distances between the sensor and a preset number of wireless ranging devices respectively in the vehicle coordinate system, where the number of the second distances is equal to the preset number. The two hardware for wireless ranging work simultaneously to measure the distances between them, that is, the first distance and the second distances, providing a solid data basis for the subsequent calibration process of the sensor.

[0035] In this specific embodiment, the distance between the two is obtained by running the wireless ranging module in the sensor and the wireless ranging module in the domain controller. At the same time, the distances between the sensor and the wireless ranging devices are obtained by running the wireless ranging module in the sensor and a preset number of wireless ranging devices, providing a solid data basis for subsequent calculations.

[0036] In a specific embodiment of the present application, the spatial position coordinates of the sensor in the vehicle coordinate system are obtained by calculation, including: establishing an equation based on the first spatial coordinate, the second spatial coordinate, the first distance, and the second distance, and obtaining the spatial position coordinates of the sensor in the vehicle coordinate system by solving the equation. By organizing and solving the established equation, the spatial position coordinates of the sensor can be obtained, which can be directly used for the revision of the sensor position.

[0037] In this specific embodiment, the number of the second spatial coordinates is equal to the number of the second distances, and the number of the established equations is equal to the sum of the number of the first spatial coordinates and the number of the second spatial coordinates. There are three unknowns for the coordinates of the sensor, so at least three different equations are required to solve these three unknowns, laying a foundation for the subsequent sensor position calibration.

[0038] In a specific example of the present application, when the intelligent driving vehicle is in motion or at rest, it is necessary to perform external parameter calibration of the sensor. At this time, it is necessary to obtain the spatial coordinate values and attitude information of the sensor installation position in the vehicle coordinate system. By installing two wireless ranging devices, a domain controller with a wireless ranging module and an attitude instrument, and a sensor with a wireless ranging module and an attitude instrument, the key parameters for external parameter calibration can be obtained very quickly, efficiently, and accurately, generating an external parameter file to improve the perception accuracy and the stability of the intelligent driving system. Assume that the origin position of the sensor is point A, and the unknown coordinates in the vehicle coordinate system are [X A , Y A , Z A . Assume that the origin position of the domain controller is point B, and the accurate first spatial coordinates obtained in the vehicle coordinate system are [X B , Y B , Z B . Assume that the origin position of the wireless ranging device fixed on the left front of the vehicle is point CLF, and the accurate second spatial coordinates obtained in the vehicle coordinate system are [X CLF , Y CLF , Z CLF . Assume that the origin position of the wireless ranging device fixed on the right front of the vehicle is point CRF, and the accurate second spatial coordinates obtained in the vehicle coordinate system are [X CRF , Y CRF , Z CRF . Since the positions of point B, point CLF, and point CRF are relatively fixed, so [X B , Y B , Z B , [X CLF , Y CLF , Z CLF , [X CRF , Y CRF , Z CRFis a constant. According to the wireless ranging module in the sensor and the wireless ranging module in the domain controller, the distance between point A and point B is measured as d 1 , according to the wireless ranging module in the sensor and two wireless ranging devices, the distances between point A and point CLF, and between point A and point CRF are measured as d 2 and d 3 , then the following system of equations can be listed:

[0039] (X A -X B ) 2 +(Y A -Y B ) 2 +(Z A -Z B ) 2 =d 1 2

[0040] (X A -X CLF ) 2 +(Y A -Y CLF ) 2 +(Z A -Z CLF ) 2 =d 2 2

[0041] (X A -X CRF ) 2 +(Y A -Y CRF ) 2 +(Z A -Z CRF ) 2 =d 3 2

[0042] Through 3 equations, the 3 unknowns can be converted into a matrix or directly solved to obtain the unique coordinate value of point A, that is, the coordinate value of the sensor in the vehicle coordinate system.

[0043] In Figure 1 the specific implementation manner shown, a method for calibrating the external parameters of a sensor further includes:

[0044] Step S102, obtaining the third attitude information of the sensor in the vehicle coordinate system by using the first attitude information detected by the attitude meter in the sensor and the second attitude information detected by the attitude meter in the domain controller.

[0045] In this specific embodiment, since the attitude of the sensor needs to be corrected, the revised attitude information of the sensor in the vehicle coordinate system is obtained according to the fixed attitude information of the domain controller, laying a foundation for subsequent steps.

[0046] In a specific embodiment of the present application, the third attitude information of the sensor in the vehicle coordinate system is obtained by using the first attitude information detected by the attitude meter in the sensor and the second attitude information detected by the attitude meter in the domain controller, including: subtracting the second attitude information of the domain control sensor from the first attitude information of the sensor to obtain the third attitude information of the sensor in the vehicle coordinate system. The attitude information obtained through simple operations can be directly used for external parameter calibration, and the correction of the sensor position is more accurate.

[0047] In this specific embodiment, since the installation position of the domain controller on the vehicle is fixed and its attitude is also fixed, the attitude information of the sensor can be obtained by subtracting the hpr value of the domain controller from the hpr value obtained by the attitude meter on the sensor, obtaining the hpr value in the vehicle coordinate system, that is, obtaining the attitude information of the sensor, which can be directly used for the calibration of the sensor attitude angle, where hpr refers to the angles of the target rotating around the x, y, and z axes respectively, that is, the attitude angles (heading, pitch, roll).

[0048] In Figure 1 the specific embodiment shown, a method for calibrating the external parameters of a sensor further includes:

[0049] Step S103, generating an external parameter file by using the spatial position coordinates and the third attitude information, and calibrating the external parameters of the sensor through the external parameter file.

[0050] In this specific embodiment, the principle of the generation process of the spatial position coordinates and the third attitude information can be made into a corresponding calibration script. When calibration is required, executing the calibration script can obtain the position and attitude information of the sensor in the vehicle coordinate system, and the external parameter calibration of the sensor can be quickly completed.

[0051] In a specific embodiment of the present application, generating an external parameter file by using the spatial position coordinates and the third attitude information includes: using a scripting language to write the generation process and results of the spatial position coordinates and the third attitude information to generate an external parameter file. Through the external parameter file, the sensor can be calibrated quickly and at any time.

[0052] In this specific embodiment, by writing the generation process and results of the spatial position coordinates and the third attitude information into a scripting language to generate an external parameter file, the sensing accuracy of the sensor can be improved.

[0053] This application mainly calculates the coordinate values and attitude information of the sensor in the vehicle coordinate system through the built-in wireless ranging module and attitude meter of the sensor, and the ranging and attitude measurement between the sensor and the reference point, so as to quickly complete the external parameter calibration of the sensor. Install a domain controller with a wireless ranging module and an attitude meter, and multiple wireless ranging devices at fixed positions on the vehicle. Since the installation positions of the domain controller and the wireless ranging devices are fixed, the spatial coordinates of the domain controller and the wireless ranging devices in the vehicle coordinate system can be accurately obtained. Install a sensor with a wireless ranging module and an attitude meter at a suitable position on the vehicle, measure the distances between the sensor and the domain controller, and the sensor and other wireless ranging devices through wireless ranging, and calculate the spatial coordinate values of the sensor according to the wireless ranging results. Use the attitude meter in the sensor and the attitude meter in the domain controller to calculate the attitude information of the sensor, and correct the external parameter of the sensor through the spatial coordinate value and the attitude information, so that the sensor can accurately sense data. This solution optimizes the time and location limitations of sensor external parameter calibration. At present, the external parameter calibration mainly relies on manual measurement. After placing the vehicle on a flat calibration site, the position parameters of the sensor in the vehicle coordinate system are calculated by measuring the position of the sensor relative to the target point, and the external parameter is generated. Therefore, compared with the traditional mode, this solution can complete the calibration process faster and more efficiently, and can achieve the effect of real-time calibration. Since the calibration site of the existing solution is not restricted, the parameter calibration can be carried out in real time, saving time and effort. During the calibration process, the error caused by manual measurement is avoided, and more accurate calibration can be carried out when the accuracy of the sensor is accurate enough.

[0054] Figure 2 Fig. 4 shows a specific embodiment of a sensor external parameter calibration device of the present application.

[0055] In Figure 2 the specific embodiment shown in Fig. 4, a sensor external parameter calibration device mainly includes:

[0056] A position acquisition unit 201, configured to calculate the spatial position coordinates of the sensor in the vehicle coordinate system according to the first spatial coordinates of the domain controller in the vehicle coordinate system and the second spatial coordinates of a preset number of wireless ranging devices obtained in advance, and the measured distances between the sensor and the domain controller and the preset number of wireless ranging devices respectively, where the preset number is a natural number not less than 2, and the number of the second spatial coordinates is the same as the preset number;

[0057] An attitude acquisition unit 202, configured to obtain the third attitude information of the sensor in the vehicle coordinate system by using the first attitude information detected by the attitude meter in the sensor and the second attitude information detected by the attitude meter in the domain controller;

[0058] The external parameter calibration unit 203 is used to generate an external parameter file by using the spatial position coordinates and the third attitude information, and calibrate the external parameters of the sensor through the external parameter file.

[0059] In this specific embodiment, the position acquisition unit 201 installs a domain controller with a wireless ranging module and an attitude meter, and a plurality of wireless ranging devices at fixed positions of the vehicle. Since the installation positions of the domain controller and the wireless ranging devices are fixed, the spatial coordinates of the domain controller and the wireless ranging devices in the vehicle coordinate system can be accurately obtained; a sensor with a wireless ranging module and an attitude meter is installed at a suitable position of the vehicle. The distances between the sensor and the domain controller, and the distances between the sensor and other wireless ranging devices are obtained through wireless ranging, and the spatial coordinate values of the sensor are calculated according to the wireless ranging results; the attitude acquisition unit 202 calculates the attitude information of the sensor by using the attitude meter in the sensor and the attitude meter in the domain controller, and corrects the external parameter of the sensor through the spatial coordinate value and the attitude information, so that the sensor can accurately sense data; the external parameter calibration unit 203 can get rid of the limitations of time and place by generating an external parameter file, so that the external parameters of the sensor can be calibrated more efficiently and quickly anytime and anywhere.

[0060] In a specific embodiment of the present application, the first spatial coordinate of the domain controller in the vehicle coordinate system and the second spatial coordinates of a preset number of wireless ranging devices obtained in advance include: accurately obtaining the first spatial coordinate of the domain controller in the vehicle coordinate system and the second spatial coordinates of a preset number of wireless ranging devices according to the different installation positions of the domain controller and a preset number of wireless ranging devices on the same vehicle. The obtained first spatial coordinate and second spatial coordinates are both accurate and convenient, providing a data basis for the subsequent calibration process of the sensor.

[0061] In this specific embodiment, in the vehicle coordinate system, a domain controller with a wireless ranging module and an attitude meter and a preset number of wireless ranging devices are installed at different fixed positions of the vehicle. Since the positions of the domain controller and the wireless ranging devices are fixed, the first spatial coordinate of the domain controller and the second spatial coordinates of the wireless ranging devices can be accurately obtained during installation, which is more convenient and accurate to obtain directly.

[0062] It should be noted that the determination of different fixed positions on the vehicle is determined according to the actual situation of the vehicle, and the present application does not make specific limitations.

[0063] In a specific embodiment of the present application, measuring the distances between the sensor and the domain controller and a preset number of wireless ranging devices respectively includes: using the wireless ranging module in the sensor and the wireless ranging module in the domain control sensor to measure and obtain the first distance between the sensor and the domain controller in the vehicle coordinate system; using the wireless ranging module in the sensor and the preset number of wireless ranging devices to measure and obtain the second distances between the sensor and the preset number of wireless ranging devices respectively in the vehicle coordinate system, where the number of the second distances is equal to the preset number. The two hardware devices for wireless ranging work simultaneously to measure the distances therebetween, namely the first distance and the second distances, providing a solid data basis for the subsequent calibration process of the sensor.

[0064] In this specific embodiment, the distance between the two is obtained by running the wireless ranging module in the sensor and the wireless ranging module in the domain controller. At the same time, the distances between the sensor and the preset number of wireless ranging devices are obtained by running the wireless ranging module in the sensor and the preset number of wireless ranging devices, providing a solid data basis for subsequent calculations.

[0065] In a specific embodiment of the present application, calculating the spatial position coordinates of the sensor in the vehicle coordinate system includes: establishing equations based on the first spatial coordinates, the second spatial coordinates, the first distance, and the second distances, and obtaining the spatial position coordinates of the sensor in the vehicle coordinate system by solving the equations. Organizing and solving the established equations can obtain the spatial position coordinates of the sensor, which can be directly used for revising the position of the sensor.

[0066] In this specific embodiment, the number of the second spatial coordinates is equal to the number of the second distances, and the number of the established equations is equal to the sum of the number of the first spatial coordinates and the number of the second spatial coordinates. There are three unknowns for the coordinates of the sensor, so at least three different equations are required to solve these three unknowns, laying a foundation for subsequent calibration of the sensor position.

[0067] The sensor external parameter calibration device provided by the present application can be used to execute the sensor external parameter calibration method described in any of the above embodiments. Its implementation principle and technical effects are similar and will not be elaborated here.

[0068] In a specific embodiment of the present application, each functional module in a sensor external parameter calibration device of the present application can be directly in hardware, in a software module executed by a processor, or in a combination of both.

[0069] The software module can reside in a RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, register, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. The exemplary storage medium is coupled to the processor such that the processor can read information from and write information to the storage medium.

[0070] The processor can be a central processing unit (CPU), or can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general-purpose processor can be a microprocessor, but in an alternative, the processor can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP core, or any other such configuration. In an alternative, the storage medium can be integral with the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In an alternative, the processor and the storage medium can reside in the user terminal as discrete components.

[0071] In another specific embodiment of the present application, an intelligent vehicle, wherein the intelligent vehicle includes the sensor extrinsic parameter calibration device in any of the embodiments. Optionally, the intelligent vehicle includes a processor and a memory, the processor and the memory are coupled, and the intelligent vehicle is configured to implement the sensor extrinsic parameter calibration method in any of the embodiments shown in the appended Figure 1 drawings of the present application specification.

[0072] In another specific embodiment of the present application, a computer-readable storage medium stores computer instructions, and the computer instructions are operated to execute the sensor extrinsic parameter calibration method described in the above embodiments.

[0073] In another specific embodiment of the present application, a computer device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores computer instructions executable by the at least one processor, and the at least one processor operates the computer instructions to execute the sensor extrinsic parameter calibration method described in the above embodiments.

[0074] In another specific embodiment of the present application, a processing chip includes a memory and a processor. A position acquisition unit, an attitude acquisition unit, and an external parameter calibration unit are provided in the processor, which are used for the external parameter calibration method of the sensor described in the above specification. The specific processing process can be seen in the records in the above specification and will not be elaborated here. The memory is used to store the intermediate data or final results processed by each unit, and at the same time export the processed data, etc.

[0075] In several embodiments provided by the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0076] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0077] The above are only the embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structural transformation made using the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present application by the same token.

Claims

1. A method for calibrating the external parameters of a sensor, characterized in that, it includes: Based on the previously obtained first spatial coordinates of the domain controller in the vehicle coordinate system and the second spatial coordinates of a preset number of wireless ranging devices, and the measured distances between the sensor and the domain controller and the preset number of wireless ranging devices respectively, the spatial position coordinates of the sensor in the vehicle coordinate system are calculated, where the preset number is a natural number not less than 2, and the number of the second spatial coordinates is the same as the preset number. Among them, the previously obtained first spatial coordinates of the domain controller in the vehicle coordinate system and the second spatial coordinates of a preset number of wireless ranging devices include accurately obtaining the first spatial coordinates of the domain controller and the second spatial coordinates of the preset number of wireless ranging devices in the vehicle coordinate system according to the different installation positions of the domain controller and the preset number of wireless ranging devices on the same vehicle. The measurement of the distances between the sensor and the domain controller and the preset number of wireless ranging devices respectively includes using the wireless ranging module in the sensor and the wireless ranging module in the domain controller to measure and obtain the first distance between the sensor and the domain controller in the vehicle coordinate system, and using the wireless ranging module in the sensor and the preset number of wireless ranging devices to measure and obtain the second distances between the sensor and the preset number of wireless ranging devices respectively in the vehicle coordinate system, where the number of the second distances is equal to the preset number. The calculation of the spatial position coordinates of the sensor in the vehicle coordinate system includes establishing equations based on the first spatial coordinates, the second spatial coordinates, the first distance, and the second distance, and obtaining the spatial position coordinates of the sensor in the vehicle coordinate system by solving the equations; using the first attitude information detected by the attitude meter in the sensor and the second attitude information detected by the attitude meter in the domain controller to obtain the third attitude information of the sensor in the vehicle coordinate system; generating an external parameter file using the spatial position coordinates and the third attitude information, and calibrating the external parameters of the sensor through the external parameter file.

2. The method for calibrating the external parameters of a sensor according to claim 1, characterized in that, the use of the first attitude information detected by the attitude meter in the sensor and the second attitude information detected by the attitude meter in the domain controller to obtain the third attitude information of the sensor in the vehicle coordinate system includes: subtracting the second attitude information of the domain controller from the first attitude information of the sensor to obtain the third attitude information of the sensor in the vehicle coordinate system.

3. The method for calibrating the external parameters of a sensor according to claim 1, characterized in that, the generation of the external parameter file using the spatial position coordinates and the third attitude information includes: Using a scripting language to write the generation process and results of the spatial position coordinates and the third attitude information, and generating the external parameter file.

4. A sensor external parameter calibration device Characterized in that it includes: A position acquisition unit, which is used to calculate the spatial position coordinates of the sensor in the vehicle coordinate system according to the pre-acquired first spatial coordinates of the domain controller in the vehicle coordinate system and the second spatial coordinates of a preset number of wireless ranging devices, and the measured distances between the sensor and the domain controller and the preset number of wireless ranging devices respectively. Wherein the preset number is a natural number not less than 2, and the number of the second spatial coordinates is the same as the preset number. Among them, The pre-acquired first spatial coordinates of the domain controller in the vehicle coordinate system and the second spatial coordinates of a preset number of wireless ranging devices include accurately acquiring the first spatial coordinates of the domain controller and the second spatial coordinates of the preset number of wireless ranging devices in the vehicle coordinate system according to the different installation positions of the domain controller and the preset number of wireless ranging devices on the same vehicle. The measurement of the distances between the sensor and the domain controller and the preset number of wireless ranging devices respectively includes using the wireless ranging module in the sensor and the wireless ranging module in the domain controller to measure and obtain the first distance between the sensor and the domain controller in the vehicle coordinate system, and using the wireless ranging module in the sensor and the preset number of wireless ranging devices to measure and obtain the second distances between the sensor and the preset number of wireless ranging devices respectively in the vehicle coordinate system. Wherein the number of the second distances is equal to the preset number. The calculation of the spatial position coordinates of the sensor in the vehicle coordinate system includes establishing equations according to the first spatial coordinates, the second spatial coordinates, the first distance and the second distance, and obtaining the spatial position coordinates of the sensor in the vehicle coordinate system by solving the equations. An attitude acquisition unit, which is used to obtain the third attitude information of the sensor in the vehicle coordinate system by using the first attitude information detected by the attitude meter in the sensor and the second attitude information detected by the attitude meter in the domain controller. An external parameter calibration unit, which is used to generate an external parameter file by using the spatial position coordinates and the third attitude information, and perform external parameter calibration on the sensor through the external parameter file.

5. An intelligent vehicle Characterized in that the intelligent vehicle includes the sensor external parameter calibration device according to claim 4.

6. A computer device Characterized in that it includes: At least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores computer instructions executable by the at least one processor, and the at least one processor operates the computer instructions to execute the sensor external parameter calibration method according to any one of claims 1-3.

7. A computer-readable storage medium stores computer instructions, characterized in that, the computer instructions are operated to execute the external parameter calibration method of the sensor according to any one of claims 1-3.

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