Method for correcting field of view of laser radar, computer readable storage medium and laser radar

Abstract

The application provides a laser radar field of view correction method, the laser radar comprises a scanning device, the scanning device is used for scanning in the laser radar field of view, and the correction method comprises the following steps: S11: acquiring point cloud feature information according to a point cloud, the point cloud feature information comprises one or more of the following: the contour of a reference object, the distance of the reference object, the reflectivity of the reference object, the number of scanning lines in the point cloud corresponding to the reference object, and the total number of points in the point cloud corresponding to the reference object; S12: adjusting the pose of the scanning device according to the point cloud feature information, so as to correct the laser radar field of view. The application can reduce the near distance blind area of the laser radar, and can avoid the problem that the laser radar cannot normally detect due to field of view deviation. The application does not need to additionally set a target or a calibration scene, and can complete the correction operation in real time by starting the correction function, so that the recall cost is saved.

Description

Technical Field

[0001] The present invention relates to the field of laser radar, and in particular to a method for correcting the field of view of a laser radar, a computer-readable storage medium, and a laser radar. Background Art

[0002] As a key sensor for sensing surrounding information, front-mounted LiDAR (LiDAR) has a critical technical parameter: field of view. In particular, the distribution of the vertical field of view determines the size of the LiDAR's blind spot, directly impacting its close-range perception performance.

[0003] For the laser radar arranged at a height of 1.5 meters on the roof, Figure 1 As shown, if the field of view angle below the horizontal line is 12.5 degrees, the bottom boundary of the vertical field of view is raised by 1 degree, and the detection blind spot increases by 0.6 meters, such as blind spot 1; if it is raised by 2 degrees, the detection blind spot increases by 1.3 meters, as shown in blind spot 2, that is, the difference between blind spot 2 and blind spot 1 is 0.7 meters.

[0004] The LiDAR blind zone should be as small as possible, which means that the lower edge of the LiDAR field of view (for example, -12.5° below the horizontal line) should be as close as possible to the hood on the front of the vehicle. However, to avoid assembly deviations when the LiDAR is installed on the vehicle, or to prevent deformation and offset during long-term operation after the LiDAR is installed, which may cause interference between the LiDAR vertical field of view and the hood on the front of the vehicle, a gap of 2-3 degrees is usually reserved between the bottom edge of the vertical field of view and the hood on the front of the vehicle. This will significantly increase the blind zone of the LiDAR.

[0005] Before a vehicle leaves the factory, front-mounted LiDARs undergo external calibration of their field of view using a specially arranged target or calibration scenario. This calibration typically involves detecting multiple targets in front of the vehicle. This pre-factory external calibration can address LiDAR assembly deviations. However, if the LiDAR field of view is affected by deviation from the initial installation position, the vehicle will need to be recalled for calibration.

[0006] Generally speaking, there are two ways to install LiDAR on a vehicle: 1. The LiDAR is fixed to the vehicle (for example, it is fixed on the roof, which is usually made of metal). Figure 2a As shown in , the field of view offset comes from the mounting base of the scanner inside the laser radar, especially the system containing the vibration reduction structure, such as Figure 2a The first-level vibration reduction system shown in FIG; On the other hand, from the assembly interface between the laser radar and the vehicle, if the laser radar is connected to the vehicle body, a vibration reduction system is generally required for vibration isolation, such as Figure 2aThe secondary damping system shown, the relatively soft damping system is unevenly stressed or deformed, which can cause the scanner or the laser radar to tilt, resulting in a shift in the field of view of the laser radar. The laser radar is connected to the vehicle exterior in a manner such as being fixed to an exterior cover by an exterior support, and the vehicle exterior is usually made of PC material, such as Figure 2b As shown, thermal deformation or permanent deformation of the vehicle exterior can cause a shift in the field of view of the laser radar. Due to the effect of gravity, the above two assembly methods can also cause the vertical field of view of the laser radar to shift downward, causing the vertical field of view of the laser radar to interfere with the engine cover on the front side of the vehicle, so that the laser radar cannot normally detect.

[0007] The contents of the background section are only known to the inventor and do not necessarily represent the prior art in the field. SUMMARY

[0008] In order to reduce or eliminate the influence of the initial installation position of the laser radar on the field of view, avoid the problem that the laser radar cannot normally detect due to the shift in the field of view, and reduce the near distance blind area of the laser radar while keeping the near distance blind area of the laser radar small, the present application provides a method for correcting the field of view of a laser radar, the laser radar comprising a scanning device for scanning in the field of view of the laser radar, the method comprising:

[0009] S11: obtaining point cloud feature information from the point cloud, the point cloud feature information including one or more of the contour of the reference object, the distance of the reference object, the reflectivity of the reference object, the number of scanning lines in the point cloud corresponding to the reference object, and the total number of points in the point cloud corresponding to the reference object;

[0010] S12: adjusting the pose of the scanning device according to the point cloud feature information to correct the field of view of the laser radar.

[0011] According to one preferred embodiment of the present application, the method for correcting the field of view of the laser radar further comprises: keeping the size of the field of view of the laser radar unchanged and adjusting the field of view range of the laser radar.

[0012] According to one preferred embodiment of the present application, the method further comprises: determining whether the point cloud includes the reference object before obtaining the point cloud feature information.

[0013] According to one preferred embodiment of the present application, the step S12 further comprises: adjusting the pose of the scanning device according to the point cloud feature information and the pre-stored feature information.

[0014] According to one preferred embodiment of the present application, the method further comprises: obtaining the pre-stored feature information by the following steps:

[0015] S21: moving the laser radar field of view by controlling the pose of the scanning device to obtain a plurality of poses of the point cloud corresponding to the reference object;

[0016] S22: obtaining a plurality of point cloud feature information according to the point cloud corresponding to the reference object under a plurality of poses;

[0017] S23: storing each pose and its corresponding point cloud feature information as pre-stored feature information.

[0018] According to one preferred embodiment of the present application, the step S21 comprises:

[0019] The pose of the scanning device is changed with the angular resolution of the laser radar as a control parameter until the boundary of the laser radar field of view reaches the window boundary of the laser radar.

[0020] According to one preferred embodiment of the present application, the correction method further comprises: before obtaining the pre-stored feature information, performing an external parameter calibration on the laser radar field of view.

[0021] According to one preferred embodiment of the present application, the correction method further comprises: changing the pose of the scanning device to obtain a plurality of frames of point cloud; and the step S11 further comprises: obtaining a plurality of point cloud feature information according to the plurality of frames of point cloud.

[0022] According to one preferred embodiment of the present application, the step S12 further comprises: changing the pose of the scanning device with the angular resolution of the laser radar as a control parameter until the reference object disappears in the point cloud.

[0023] According to one preferred embodiment of the present application, the step S12 further comprises: determining the field of view offset of the laser radar, and adjusting the pose of the scanning device according to the field of view offset.

[0024] According to one preferred embodiment of the present application, the step S12 further comprises: determining the pose of the scanning device when the lower boundary of the vertical field of view of the laser radar is higher than the upper boundary of the reference object, and adjusting the scanning device to the pose to correct the vertical field of view of the laser radar.

[0025] According to one preferred embodiment of the present application, the scanning device comprises a scanner and a position sensor, the laser radar determines the current pose of the scanner through the position sensor, and the step S12 further comprises: adjusting the initial position of the scanner according to the field of view offset and the sampling information of the position sensor to correct the field of view of the laser radar.

[0026] According to a preferred embodiment of the present application, the correction method further comprises: performing the correction method when the laser radar is stationary relative to the ground, and the reference object is located within the field of view of the laser radar.

[0027] According to a preferred embodiment of the present application, wherein the laser radar and the reference object are mounted on the same object, the laser radar is configured to detect a field of view in front of the reference object.

[0028] According to a preferred embodiment of the present application, wherein the reference object is a cabin cover of a vehicle, and the laser radar is mounted on the vehicle.

[0029] The present application also relates to a computer readable storage medium comprising computer executable instructions stored thereon, which, when executed by a processor, implement the correction method as described above.

[0030] The present application also relates to a laser radar comprising:

[0031] a transmitting device configured to transmit a detection light beam;

[0032] a receiving device configured to receive a return light beam reflected by an object from the detection light beam;

[0033] a scanning device configured to scan a field of view of the laser radar; and

[0034] a control device connected to the transmitting device, the receiving device and the scanning device, and configured to:

[0035] acquire a point cloud through the receiving device;

[0036] acquire point cloud feature information from the point cloud, the point cloud feature information comprising one or more of a contour of a reference object, a distance of the reference object, a reflectivity of the reference object, a number of scanning lines in the point cloud corresponding to the reference object, and a total number of points in the point cloud corresponding to the reference object;

[0037] adjust a pose of the scanning device according to the point cloud feature information, so as to correct the field of view of the laser radar.

[0038] According to a preferred embodiment of the present application, wherein the control device is further configured to: before acquiring the point cloud feature information, determine whether the point cloud comprises the reference object.

[0039] According to a preferred embodiment of the present application, wherein the control device is further configured to: keep a size of the field of view of the laser radar unchanged, and adjust a range of the field of view of the laser radar.

[0040] According to one preferred embodiment of the present application, the control device is further configured to adjust the pose of the scanning device according to the point cloud feature information and pre-stored feature information.

[0041] According to one preferred embodiment of the present application, the control device is further configured to obtain the pre-stored feature information by the following steps:

[0042] By controlling the pose of the scanning device, the field of view of the laser radar is moved to obtain the point cloud corresponding to the reference object under multiple poses;

[0043] According to the point cloud corresponding to the reference object under multiple poses, a plurality of groups of point cloud feature information are obtained;

[0044] Each pose and its corresponding point cloud feature information are stored as pre-stored feature information.

[0045] According to one preferred embodiment of the present application, the control device is further configured to:

[0046] The pose of the scanning device is changed with the angular resolution of the laser radar as a control parameter until the boundary of the field of view of the laser radar reaches the window boundary of the laser radar.

[0047] According to one preferred embodiment of the present application, the control device is further configured to change the pose of the scanning device with the angular resolution of the laser radar as a control parameter until the reference object disappears in the point cloud.

[0048] According to one preferred embodiment of the present application, the control device is further configured to determine the field of view offset of the laser radar and adjust the pose of the scanning device according to the field of view offset.

[0049] According to one preferred embodiment of the present application, the control device is further configured to correct the field of view of the laser radar when the laser radar is stationary relative to the ground, and the reference object is located within the field of view of the laser radar.

[0050] The application provides a laser radar field of view correction method, which can reduce the near distance blind area and avoid the problem that the laser radar cannot normally detect due to field of view deviation. The correction method is not limited to adjusting the pitch angle to correct the field of view, but can also adjust the heading angle and roll angle, and change the pose of the scanning device based on the reference point cloud feature information to keep the laser radar field of view size unchanged. The application can not only statically adjust the pose of the scanning device to keep the laser radar near distance blind area minimum, but also dynamically adjust the pose of the scanning device to keep the laser radar near distance blind area minimum in real time. The application does not need to additionally set a target or a calibration scene, and can complete the correction operation in real time when the correction function is started, thereby saving recall costs. The reference object is not limited to a stationary reference object, but can also be a moving reference object that keeps a relative position unchanged with the laser radar. The static adjustment refers to starting the correction method when the laser radar is stationary, and the dynamic adjustment refers to starting the correction method when the laser radar is moving, and the application scenario is very flexible.

[0051] In a preferred embodiment of the application, the laser radar is installed on a vehicle, and the laser radar field of view is as close as possible to the hood of the vehicle, which helps to reduce the detection blind area of the laser radar, and starting the correction function can keep the blind area minimum at all times, thereby improving the vehicle perception performance and ensuring driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0052] The accompanying drawings, which form a part of the disclosure, are intended to provide further understanding of the disclosure, and the illustrative embodiments of the disclosure and their description serve to explain the disclosure. The accompanying drawings in the specification of the disclosure:

[0053] Figure 1 A schematic diagram showing the blind area change of the laser radar due to field of view deviation is shown;

[0054] Figure 2a A schematic diagram showing the laser radar and the roof assembly mode is shown;

[0055] Figure 2b A schematic diagram showing the laser radar and the exterior assembly mode is shown;

[0056] Figure 3 A flowchart of the laser radar field of view correction method of one embodiment of the application is shown;

[0057] Figure 4 A schematic diagram of the laser radar module of one embodiment of the application is shown;

[0058] Figure 5a A schematic diagram of the point cloud feature information acquisition of one embodiment of the application is shown;

[0059] Figure 5b A schematic diagram of Figure 5aa schematic view of adjusting the scanning device according to the point cloud feature information;

[0060] Figure 6a a comparison chart before and after correction when the laser radar field of view is downwardly offset in an embodiment of the present application;

[0061] Figure 6b a comparison chart before and after correction when the laser radar field of view is downwardly offset to the right in an embodiment of the present application;

[0062] Figure 7 a flow chart of obtaining pre-stored feature information in an embodiment of the present application;

[0063] Figure 8a a comparison chart before and after correction of the laser radar field of view by adjusting the initial position of the scanner in an embodiment of the present application;

[0064] Figure 8b a comparison chart before and after correction of the laser radar field of view by adjusting the initial position of the scanner in an embodiment of the present application; Figure 8a an enlarged view of the area A identified by the dashed oval in FIG. DETAILED DESCRIPTION

[0065] Hereinafter, only certain exemplary embodiments will be described simply. As can be recognized by those skilled in the art, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present application. Therefore, the drawings and the description are considered to be exemplary in nature rather than limiting.

[0066] In the description of the present application, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0067] In the description of the application, it is necessary to point out that, unless otherwise explicitly specified and limited, the terms "mount", "connect", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection or can communicate with each other; it can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0068] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0069] The following disclosure provides many different embodiments or examples for implementing different structures of the application. In order to simplify the disclosure of the application, the components and arrangements of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the application. In addition, the present application can repeatedly refer to numbers and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and in itself does not indicate a relationship between the various embodiments and / or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0070] The present application provides a method for correcting the field of view of a laser radar, the laser radar comprising a scanning device for scanning in the field of view of the laser radar, the method comprising: S11, acquiring point cloud feature information according to a point cloud, the point cloud feature information comprising one or more of the outline of the reference object, the distance of the reference object, the reflectivity of the reference object, the number of scanning lines in the point cloud corresponding to the reference object, and the total number of points in the point cloud corresponding to the reference object; S12, adjusting the pose of the scanning device according to the point cloud feature information to correct the field of view of the laser radar. The present application can reduce the near distance blind area of the laser radar, and can avoid the problem that the laser radar cannot normally detect due to field of view offset. The present application does not need to additionally set a target or a calibration scene, and can complete the correction operation in real time by starting the correction function, thereby saving recall cost.

[0071] The preferred embodiments of the present application are described below in conjunction with the accompanying drawings, in which it is understood that the preferred embodiments described below are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0072] Figure 3 A flow chart of the correction method of the field of view of the laser radar of one embodiment of the present application is shown, Figure 4 A schematic diagram of the laser radar module of one embodiment of the present application is shown, wherein the laser radar 40 comprises a transmitting device 41, a receiving device 42 and a scanning device 43. The transmitting device 41 is used for transmitting a probe light beam, the receiving device 42 is used for receiving a return light beam reflected by the probe light beam after being reflected by an object, and the scanning device 43 is used for scanning in the field of view of the laser radar. The correction method 10 comprises steps S11-S12, which are specifically as follows:

[0073] In step S11, point cloud feature information is obtained according to the point cloud, and the point cloud feature information comprises one or more of the following: the contour of the reference object, the distance of the reference object, the reflectivity of the reference object, the number of scanning lines in the point cloud corresponding to the reference object, and the total number of points in the point cloud corresponding to the reference object.

[0074] Figure 5aFig. 1 shows a schematic diagram of acquiring point cloud feature information according to an embodiment of the present application. The laser radar 40 emits a probe light beam and receives a return light beam. After receiving the return light beam, a point cloud is acquired. According to the point cloud, point cloud feature information is acquired. For example, the laser radar 40 is installed on a vehicle. The hood of the vehicle is taken as a reference object. When the laser radar 40 can stably detect the point cloud of the hood, i.e., the point cloud includes the hood, the point cloud feature information includes, for example, the contour of the hood, the distance, the reflectivity, the number of scanning lines corresponding to the hood, and the total number of points of the point cloud corresponding to the hood. Since the hood interferes with the field of view of the laser radar, it is considered that the field of view of the laser radar has deviated and needs to be corrected. In addition to taking the hood of the vehicle as the reference object, other parts or specific structures on the vehicle can also be taken as the reference object. For example, when the vehicle has some protruding structures, these protruding structures can be taken as the reference object. In addition, the ground can also be taken as the reference object, which is particularly advantageous for some vehicles without a hood (e.g., unmanned delivery vehicles). When the ground is taken as the reference object, the distance of the first scanning line obtained by scanning the ground using the laser radar can be used as the point cloud feature information, which is the distance between the closest scanning line and the laser radar (or the height difference between the closest scanning line and the laser radar). When the laser radar is initially installed, a preset value of the distance can be obtained; during the operation of the vehicle, when the actual distance between the scanning line obtained by scanning using the laser radar and the laser radar deviates from the preset value, it indicates that the pose of the laser radar has changed. Specifically, when the distance increases, it indicates that the laser radar has tilted upward; when the distance decreases, it indicates that the laser radar has tilted downward. In the following, the hood of the vehicle is still taken as an example for description. Those skilled in the art can easily understand that the schemes of various embodiments of the present application are also applicable to the case of taking other parts or specific structures of the vehicle or the ground as the reference object.

[0075] The basis or parameter for correction is the point cloud feature information, which includes one or more of the following: the contour of the reference object, the distance of the reference object, the reflectivity of the reference object, the number of scanning lines in the point cloud corresponding to the reference object, and the total number of points of the point cloud corresponding to the reference object. Continuing to take the hood as an example, the contour of the reference object is the contour of the hood detected from the field of view of the laser radar, the distance of the reference object is, for example, the average distance or the central distance or the distance of a certain point between the laser radar and the hood, the reflectivity of the reference object is, for example, the average value or the median value of the reflectivity of the hood, the number of scanning lines in the point cloud corresponding to the reference object is, for example, the broken line or the concave line or the convex line formed by the hood in the point cloud, the number of scanning lines formed by the hood in the point cloud is, for example, the four scanning lines shown in the figure, and the total number of points of the point cloud corresponding to the reference object is, for example, the total number of points of the hood in the point cloud, and is also, for example, the total number of detected laser pulses corresponding to the hood. Figure 5a

[0076] ​According to a preferred embodiment of the present application, the correction method 10 further comprises: changing the pose of the scanning device to obtain multiple frames of point clouds; and the step S11 further comprises: obtaining multiple sets of point cloud feature information according to the multiple frames of point clouds.

[0077] With reference to the foregoing Figure 5a , the laser radar 40 is installed on the vehicle, and the hood of the vehicle is taken as a reference object. If the laser radar field of view is offset during driving of the vehicle, the correction function of the laser radar field of view is started. Since the damping system of the laser radar 40 makes the point cloud obtained by the laser radar unstable, or when the vehicle shakes due to the speed or the uneven road surface, the point cloud obtained is also unstable. Preferably, the pose of the scanning device 43 is controlled to change to obtain multiple frames of point clouds including the reference object, and multiple sets of point cloud feature information are obtained from the multiple frames of point clouds, respectively, so as to improve the accuracy of correction of the laser radar field of view. According to a preferred embodiment of the present application, the mean or median of the multiple sets of point cloud feature information can be calculated as the final point cloud feature information, which is used for subsequent correction of the laser radar field of view.

[0078] In step S12, the pose of the scanning device is adjusted according to the point cloud feature information to correct the laser radar field of view.

[0079] The pose of the scanning device 43 is adjusted according to the point cloud feature information obtained in step S11. The pose includes position and angle. Adjusting the position means moving the scanning device 43 in the forward-backward, left-right, and up-down directions. Adjusting the angle means adjusting the pitch angle, heading angle, and roll angle of the scanning device 43. The correction of the laser radar field of view includes correction of the horizontal field of view and the vertical field of view. The horizontal field of view is the angle range that can be detected by the laser radar in the horizontal direction, and the vertical field of view is the angle range that can be detected by the laser radar in the vertical direction. The vertical field of view and the horizontal field of view jointly constitute the field of view (FOV) of the laser radar.

[0080] Figure 5b A schematic diagram of adjusting the scanning device according to the point cloud feature information is shown in Figure 5a , the laser radar 40 is installed on the vehicle, for example, the hood of the vehicle is taken as a reference object, the laser radar 40 emits a detection light beam 1, and the echo light beam of the detection light beam 1 reflected by the hood is received by the laser radar 40. The point cloud is obtained according to the echo light beam. When it is judged that the hood is included in the point cloud, the lower edge of the laser radar field of view is interfered by the hood, that is, it is considered that the laser radar field of view is offset and needs to be corrected. The point cloud feature information is obtained according to the point cloud, for example, the contour of the hood and the number of scanning lines in the point cloud corresponding to the hood, etc., as shown in Figure 5aThe pose of the scanning device 43 is adjusted according to the point cloud feature information, for example, the acquired point cloud feature information is compared with the pre-stored point cloud feature information, the direction and angle of the scanning device 43 are determined, and the pose of the scanning device 43 is step-adjusted with the angular resolution of the lidar as a control parameter. The lidar 40 emits a detection beam 2, and the detection beam 2 just reaches the ground beyond the upper edge of the cabin cover, that is, when the lower edge of the lidar field of view is not interfered by the cabin cover, the lidar field of view is corrected to the ideal position, and at this time, the blind area of the lidar is the smallest.

[0081] According to a preferred embodiment of the present application, wherein the correcting the lidar field of view further comprises: keeping the size of the lidar field of view unchanged, and adjusting the field of view range of the lidar according to the point cloud feature information.

[0082] Figure 6a A comparison diagram before and after correction when the lidar field of view of an embodiment of the present application is downwardly offset is shown. For example, the lidar 40 is installed on a vehicle, and if the cabin cover is taken as a reference object, the detection beam emitted by the lidar 40 passes over the cabin cover to detect the front of the vehicle, and the lidar field of view is located above the reference object. When the field of view of the lidar 40 is offset, for example, before correction, the lower region of the lidar field of view is blocked by the reference object, that is, the lidar field of view is downwardly offset, and the lidar cannot normally detect. When the field of view of the lidar 40 is offset, the point cloud feature information of the reference object (here, the cabin cover) also changes, according to which the pose of the lidar can be determined, and the amount of pose adjustment that needs to be adjusted can be determined. The pose of the scanning device 43 is adjusted according to the point cloud feature information, the size of the lidar field of view is kept unchanged, the lidar field of view is moved upwardly, the lower edge of the lidar field of view is moved upwardly, until the reference object does not interfere with the lidar field of view, and the correction is completed.

[0083] Figure 6bThe contrastive diagram before and after correction when the field of view of the laser radar of one embodiment of the application is offset to the right and down is shown. For example, the laser radar 40 is installed on a vehicle. If the cabin cover is taken as a reference object, the detection light beams emitted by the laser radar 40 pass over the top of the cabin cover to detect the front of the vehicle. The field of view of the laser radar is above the reference object. The field of view of the laser radar is offset, for example, before correction, the lower region of the field of view of the laser radar is blocked by the reference object, the field of view of the laser radar is offset to the right as a whole, and the laser radar cannot normally detect. When the field of view of the laser radar 40 is offset, the point cloud feature information of the reference object (here, the cabin cover) also changes. According to this, the pose of the laser radar can be determined, and the amount of pose adjustment that needs to be adjusted can be determined. The pose of the scanning device 43 is adjusted according to the point cloud feature information, the size of the field of view of the laser radar is kept unchanged, the field of view of the laser radar is moved upward and to the left, so that the lower edge of the field of view of the laser radar is moved upward, until the reference object does not interfere with the field of view of the laser radar, and the field of view of the laser radar is directly opposite the front or reaches the calibration position when leaving the factory, and the correction is completed.

[0084] According to one preferred embodiment of the application, the correction method further comprises: before acquiring the point cloud feature information, judging whether the point cloud includes the reference object.

[0085] For example, whether an object is included in the point cloud is judged by a deep learning algorithm, and whether the object is the reference object is identified. If the object is far away, the point cloud density at the corresponding position is low, which may cause misjudgment. Therefore, an object at a closer distance can be selected as the reference object. Finally, the result of object detection is obtained, and then it is judged whether the object is the reference object. As long as whether the reference object is included in the point cloud can be judged, the method adopted or the device for executing the method is not limited by the application. After it is determined that the reference object is included in the point cloud, the point cloud feature information of the reference object is acquired, and the pose of the scanning device is adjusted according to the point cloud feature information.

[0086] According to one preferred embodiment of the application, step S12 further comprises: adjusting the pose of the scanning device according to the point cloud feature information and the pre-stored feature information.

[0087] For example, the laser radar 40 is calibrated by referring to the reference object before leaving the factory, and a plurality of sets of point cloud feature information are obtained according to the point cloud corresponding to the reference object and stored. In the use process, when the field of view of the laser radar needs to be corrected, the point cloud feature information of the same reference object actually obtained is compared with the pre-stored feature information. If there is matching point cloud feature information in the pre-stored point cloud feature information, the adjustment amount is determined according to the pose of the scanning device 43 corresponding to the matching point cloud feature information, and the pose of the scanning device 43 is adjusted according to the adjustment amount. The field of view of the laser radar can be more accurately corrected to a position where there is no interference in the field of view, so as to ensure that the near distance blind area is minimized. For example, the point cloud corresponding to the reference object can be obtained from the point cloud of the laser radar by an edge-based segmentation method, so as to extract the point cloud feature information of the reference object. Specifically, the point cloud (usually including a plurality of different objects) is segmented into the contours of different objects by using the edge-based segmentation method, and the contour of each object is compared and matched with the pre-set reference object contour. If the edge contour of an object can be basically matched with the pre-set reference object contour, it means that the object corresponds to the pre-set reference object, and the point cloud in the object contour is the reference object point cloud. The change of the pose of the laser radar will cause the size and / or shape of the reference object contour to change, so the actual detected reference object contour is compared with the pre-set reference object contour under different poses, and the actual pose of the laser radar and the pose adjustment amount required for adjustment can be determined.

[0088] According to a preferred embodiment of the present application, the correction method 10 further comprises: obtaining the pre-stored feature information by the following steps, as shown in Figure 7

[0089] In step S21, the pose of the scanning device is controlled to move the field of view of the laser radar to obtain the point cloud corresponding to the reference object under a plurality of poses.

[0090] With reference to Figure 5a and Figure 5b ​The laser radar 40 is installed on the vehicle, and the pre-stored feature information for correcting the field of view of the laser radar is obtained before the vehicle is delivered from the factory with the vehicle cabin cover as the reference object. During the driving of the vehicle, the laser radar may have two cases of field of view deviation. The first case is that the laser radar as a whole deviates, and the relative position of the laser radar main body and the scanning device does not change. The second case is that the scanning device deviates, and the relative position of the laser radar main body and the vehicle does not change. For the two cases, the pose of the scanning device can be changed through an additional adjusting device (for example, a motor) of the scanning device. The adjusting device can control the pose of the scanning device in six dimensions, that is, the front-back position, left-right position, up-down position, pitch angle, heading angle and roll angle of the scanning device. Specifically, the pose of the scanning device 43 is controlled by the motor to move the field of view of the laser radar, and the point clouds corresponding to the reference object in multiple poses are obtained. For example, the scanning device 43 is adjusted to pose 1, the laser radar 40 emits a detection beam 1 and receives a reflected echo beam 1 of the detection beam 1 reflected by the cabin cover, and the point cloud 1 corresponding to the reference object when the scanning device 43 is in pose 1 is obtained. The pose of the scanning device 43 is adjusted in turn (still so that the detection beam irradiates on the reference object), and the point clouds corresponding to the reference object when the scanning device 43 is in multiple poses are obtained, until the obtained point cloud does not include the reference object, as shown by the detection beam 2. At this time, the pose of the scanning device 43 is such that the detection beam 2 just passes above the cabin cover, but does not generate an echo beam reflected by the cabin cover, so the reference object is not included in the obtained point cloud. The more the number of point cloud frames obtained, the more accurate the correction of the field of view of the laser radar.

[0091] According to a preferred embodiment of the present application, the step S21 comprises: taking the angular resolution of the laser radar as a control parameter, changing the pose of the scanning device until the boundary of the field of view of the laser radar reaches the window boundary of the laser radar.

[0092] The angular resolution includes horizontal angular resolution and / or vertical angular resolution. For example, taking the vertical angular resolution as a control parameter, the pitch angle of the scanning device 43 is changed so that the field of view of the laser radar moves upward or downward along the vertical direction until the lower boundary of the field of view of the laser radar reaches the lower edge of the window boundary of the laser radar. Due to the action of gravity, the interference between the lower boundary of the field of view of the laser radar and the lower edge of the window boundary is most common, but the present application is not limited thereto, and the interference between the upper boundary of the field of view of the laser radar and the upper edge of the window boundary can also occur. For another example, taking the horizontal angular resolution as a control parameter, the heading angle of the scanning device 43 is changed so that the field of view of the laser radar moves left or right along the horizontal direction until the left boundary of the field of view of the laser radar reaches the left edge of the window boundary of the laser radar, or the right boundary of the field of view of the laser radar reaches the right edge of the window boundary of the laser radar. Once the field of view of the laser radar interferes with the window edge, the normal detection of the laser radar will be affected.

[0093] At step S22, a plurality of sets of point cloud feature information are obtained according to the point clouds corresponding to the reference object in a plurality of poses.

[0094] According to the point cloud 1 corresponding to the reference object when the scanning device 43 is in pose 1, a first set of point cloud feature information is obtained; according to the point cloud 2 corresponding to the reference object when the scanning device 43 is in pose 2, a second set of point cloud feature information is obtained; and so on, a plurality of sets of point cloud feature information are obtained.

[0095] At step S23, each pose and the corresponding point cloud feature information are stored as pre-stored feature information.

[0096] The pose 1 of the scanning device 43 and the corresponding first set of point cloud feature information, the pose 2 of the scanning device 43 and the corresponding second set of point cloud feature information, and a plurality of poses and a plurality of sets of point cloud feature information are stored as pre-stored feature information.

[0097] When the reference object interferes with the field of view of the laser radar during use, the field of view of the laser radar needs to be corrected. First, the point cloud including the same reference object is obtained, and the point cloud feature information corresponding to the pre-stored feature information is analyzed. For example, the pre-stored feature information includes the outline of the reference object and the total number of point clouds corresponding to the reference object. Then, the point cloud feature information obtained from the point cloud of the same reference object also includes the outline of the reference object and the total number of point clouds corresponding to the reference object. Then, the obtained point cloud feature information is compared with the pre-stored plurality of sets of feature information, and a set of feature information with high matching and its pose are found from the plurality of sets of feature information. Then, the current pose of the scanning device 43 is adjusted in reverse according to the set of feature information and the pose, so that the field of view of the laser radar can be corrected to the ideal position.

[0098] The above describes how to obtain the pre-stored feature information through steps S21-S23. In a specific embodiment, the pre-stored feature information is stored as a query table. When the correction method 10 is executed, first, the point cloud is obtained, and it is judged whether the reference object is included according to the point cloud. If the reference object is included, the point cloud feature information of the reference object is obtained, the offset of the field of view of the laser radar or the offset of the pose of the scanning device 43 is found through the query table, and the pose of the scanning device 43 is adjusted according to the offset.

[0099] In order to ensure the correction accuracy of the field of view of the laser radar, according to a preferred embodiment of the present application, the correction method 10 further comprises: before obtaining the pre-stored feature information, performing an external parameter calibration on the field of view of the laser radar. For example, the laser radar 40 is installed on a vehicle. Before the laser radar 40 is installed, the ranging capability of the laser radar 40 is calibrated. After the laser radar 40 is installed and before the vehicle is shipped, the external parameter calibration is performed on the field of view of the laser radar under a specific arrangement of targets or scenes, so as to eliminate the static assembly deviation after installation.

[0100] In summary, by the correction method of the present application, when the laser radar 40 is installed on a vehicle, the interference of the laser radar field of view with the reference object (for example, the engine hood) can be detected each time the vehicle is started or during the vehicle driving, when the position of the engine hood stably appears in the point cloud, that is, when the acquired point cloud includes the engine hood, the correction function can be started, by comparing the actual acquired point cloud feature information with the pre-stored point cloud feature information, if there is matching point cloud feature information in the pre-stored point cloud feature information, the adjustment amount is determined according to the pose of the scanning device 43 corresponding to the matching point cloud feature information, and the pose of the scanning device 43 is adjusted according to the adjustment amount, so that the correction of the laser radar field of view can be realized.

[0101] In addition, the point cloud feature information can also not be pre-stored, when the position of the engine hood stably appears in the point cloud, the correction function is started, and the pose of the scanning device 43 is directly adjusted until the interference of the point cloud by the position of the engine hood disappears. The differences between the correction method 10 and the following embodiments are introduced.

[0102] According to one preferred embodiment of the present application, the step S12 further comprises: changing the pose of the scanning device with the angular resolution of the laser radar as a control parameter until the reference object disappears in the point cloud.

[0103] In the step S11, the point cloud is acquired, and it is judged whether the reference object is included in the point cloud. When it is determined that the reference object is included in the point cloud, the point cloud feature information does not need to be acquired, and the pose of the scanning device is changed in the step S12 until the reference object disappears in the point cloud.

[0104] According to one preferred embodiment of the present application, the step S12 further comprises: determining the field of view offset of the laser radar, and adjusting the pose of the scanning device according to the field of view offset.

[0105] Continuing to refer to Figure 6a , before correction, the laser radar field of view is downwardly offset, and the lower side area of the field of view can be seen to be blocked by the reference object. It is determined that the reference object is included in the point cloud. The pose of the scanning device 43 is step-adjusted with the angular resolution of the laser radar as a control parameter. The size of the laser radar field of view is kept unchanged, and the range of the field of view is moved upwardly, so that the lower edge of the laser radar field of view is moved upwardly until the reference object does not interfere with the laser radar field of view, and the correction is completed. The point cloud can be acquired at each pose of the scanning device 43, and it is determined whether the current point cloud still includes the reference object until the pose of the scanning device 43 when the reference object is not included is found, that is, the field of view offset of the laser radar is determined, and the pose of the scanning device 43 is adjusted according to the field of view offset.

[0106] According to one preferred embodiment of the present application, the step S12 further comprises: determining the pose of the scanning device when the lower boundary of the vertical field of view of the laser radar is higher than the upper boundary of the reference object, and adjusting the scanning device to the pose to correct the vertical field of view of the laser radar.

[0107] With reference to the foregoing Figure 6a , the reference object is just not shielding or interfering with the vertical field of view of the laser radar, at this time the pose of the scanning device 43 corresponds to the pose of the laser radar vertical field of view without interference, and the correction is completed.

[0108] According to a preferred embodiment of the present application, the scanning device 43 comprises a scanner 431 and a position sensor 432, the laser radar 40 determines the current pose of the scanner 431 through the position sensor 432, and the step S12 further comprises: adjusting the initial position, i.e. the zero position, of the scanner 431 according to the field of view offset and the sampling information of the position sensor, so as to correct the field of view of the laser radar.

[0109] When the laser radar can stably detect the point cloud information of the reference object, it is considered that the field of view has deviated, and the zero position of the scanner corresponding to the vertical field of view is changed according to the correction method 10, so as to realize the correction of the vertical field of view. For example, the laser radar is installed on a vehicle, the position of the laser radar relative to the engine hood is relatively fixed, and the distance information is determined. When the point cloud stably appears near the engine hood, it is considered that the engine hood interferes with the field of view of the laser radar. Different vehicles have different engine hood designs. Some are large curved surfaces with slight convexity in the middle, some are slightly concave in the middle, and some are designed with obvious fold lines. According to these characteristics, the point cloud feature information of the engine hood can be easily obtained, and then the pose of the scanner is adjusted according to the point cloud feature information.

[0110] Figure 8a The comparison chart before and after the correction of the field of view of the laser radar by adjusting the initial position of the scanner according to an embodiment of the present application is shown, Figure 8b The enlarged view of the area A identified by the dashed line ellipse in Figure 8a For example, the laser radar is installed on a vehicle, and the scanning device 43 comprises a scanner 431 and a position sensor 432, wherein the position sensor 432 comprises a code disc and an encoder, for example. The laser radar further comprises a motor (not shown) for driving the scanner to rotate to change its pose. The code disc rotates synchronously with the scanner to change the relative position of each scale on the code disc and the encoder, so as to mark the position of the scanner. The pose of the scanner can be read through the encoder. The zero position of the scanner 431, i.e. the zero position of the code disc, is variable. Before correction, as shown in Figure 8aAs shown in the middle left, the zero point position of the scanner 431 is at the top 12 o'clock position, at which time the lower boundary of the field of view of the laser radar interferes with the lower edge of the window, for example. Then, by comparing the point cloud feature information of the point cloud currently collected by the laser radar with the pre-stored point cloud feature information, the adjustment amount is determined, and the scanner 431 is driven by the motor according to the adjustment amount, so that it rotates counterclockwise relative to the position before correction, so that the zero point position of the scanner 431 reaches the position of the “new zero point” in Figure 8a . As can be seen from Figure 8a , after correction, the entire field of view of the laser radar moves upward, and the position of the “new zero point” corresponds to the position of the laser radar field of view without interference. As shown in Figure 8a , the scanner 431 swings to the left and right at the zero point position, as shown in Figure 8b , the angle range of the scanner 431 swinging to the right at the zero point position is angle a1, and the angle range of the scanner 431 swinging to the left at the zero point position is angle a2, wherein angle a1 corresponds to the lower field of view of Figure 8a , and angle a2 corresponds to the upper field of view of Figure 8a .

[0111] According to one preferred embodiment of the present application, the correction method 10 further comprises: performing the correction method 10 when the laser radar is stationary relative to the ground, and the reference object is located in the field of view of the laser radar.

[0112] The reference object can be a stationary reference object, for example, when the laser radar is installed on a vehicle, the vehicle is parked in the garage, and the laser radar is stationary relative to the ground, an object in the garage can be selected as the reference object and the correction method 10 is performed. The reference object is preferably located in the field of view of the laser radar, which facilitates adjusting the position of the scanning device 43 according to the point cloud.

[0113] According to one preferred embodiment of the present application, the laser radar and the reference object are installed on the same object, and the laser radar is used to detect the field of view in front of the reference object.

[0114] The reference object can be a dynamically moving object, for example, when the laser radar is installed on a vehicle, the vehicle is in motion, and the correction method 10 needs to be performed, an object installed on the vehicle and located in the field of view of the laser radar can be selected as the reference object, such as a hood, a vehicle logo protruding from the hood, etc., which facilitates adjusting the position of the scanning device 43 according to the point cloud.

[0115] According to one preferred embodiment of the present application, the reference object is a hood of a vehicle, and the laser radar is installed on the vehicle.

[0116] In combination with Figure 5a8 , this embodiment uses the characteristics of the vehicle's hood to identify whether the laser radar has dynamically offset, and changes the zero point position of the scanner corresponding to the vertical field of view according to correction method 10, so that the lower boundary of the vertical field of view of the laser radar is tangent to the upper edge of the hood, so that the vehicle's blind spot reaches the extreme position, thereby achieving correction of the vertical field of view.

[0117] Specifically, before the vehicle leaves the factory and after the external parameter calibration is completed, the correction method 10 is executed, and the vertical angular resolution is used as the control parameter to move downward, increase the field of view angle below the laser radar, and record the cabin cover point cloud of the laser radar at each angular resolution corresponding angle, until the field of view is blocked by the outer shell at the lower edge of the laser radar window (at this time, the noise points increase significantly), and obtain the distance of the cabin cover, the number of scan lines corresponding to the cabin cover, the total number of points in the point cloud corresponding to the cabin cover, and the contour feature information of the cabin cover as point cloud feature information. Among them, the number of scan lines corresponding to the cabin cover, that is, the number of arcs swept by the detection beam, is as follows: Figure 5a The four arcs on the cabin cover in the figure correspond to the four scan lines in the point cloud. The total number of points in the point cloud corresponding to the cabin cover is the average number of detectable laser pulses in a single frame or multiple consecutive frames of point cloud. When the field of view angle below increases, the minimum detection distance of the cabin cover decreases, the number of scan lines increases, and the total number of points increases. The measured value is compared with the reference value, and after it is determined to be consistent with the change pattern of the pitch angle and point cloud feature information of the lidar, it is stored in the lidar. Until the lidar field of view exceeds the window boundary, during use, if the reference object interferes with the lidar field of view, it can be detected.

[0118] In summary, the present invention provides a laser radar field of view calibration method that extracts point cloud feature information based on vehicle body features and calibrates the laser radar field of view. This method can reduce close-range blind spots and prevent problems caused by field of view offset that can prevent radar detection. This calibration method is not limited to adjusting the pitch angle to control the field of view; it also allows for adjusting the heading and roll angles. The scanner angle is modified based on the point cloud feature information of a reference object to maintain a constant field of view. The reference object is not limited to a stationary object; it can also be a moving reference object that maintains a constant relative position to the radar field of view. The present invention not only allows for static adjustment of the scanner angle to minimize the close-range blind spot, but also allows for dynamic adjustment to maintain this minimum blind spot at all times. This method eliminates the need for additional targets or calibration scenarios; activating the calibration function allows for real-time calibration, thus reducing recall costs. In a preferred embodiment of the present invention, the laser radar 40 is mounted on the vehicle, with the laser radar field of view positioned as close as possible to the vehicle's hood. This helps minimize the laser radar 40's detection blind spot. Activating the calibration function can maintain the blind spot at an optimal value, thereby improving vehicle perception performance and ensuring driving safety.

[0119] The specification provides method operation steps as set forth in the embodiments or flow charts, but can include more or fewer operations than those listed. The order in which the steps are listed is merely one way of executing the method, and the steps can be executed in a different order or concurrently.

[0120] The present application also relates to a computer readable storage medium comprising computer executable instructions stored thereon, the executable instructions, when executed by a processor, implementing the calibration method as described above.

[0121] The present application also relates to a laser radar, referring to Figure 4 The laser radar 40 comprises:

[0122] a transmitting device 41 for transmitting a probe light beam;

[0123] a receiving device 42 for receiving a return light beam reflected by an object from the probe light beam;

[0124] a scanning device 43 for scanning in a field of view of the laser radar; and

[0125] a control device 44 connected to the transmitting device 41, the receiving device 42 and the scanning device 43, configured to:

[0126] acquire a point cloud through the receiving device 42, and determine whether the point cloud comprises a reference object;

[0127] acquire point cloud feature information according to the point cloud corresponding to the reference object, the point cloud feature information comprising one or more of a contour of the reference object, a distance of the reference object, a reflectivity of the reference object, a number of scanning lines in the point cloud corresponding to the reference object, and a total number of points in the point cloud corresponding to the reference object;

[0128] adjust a pose of the scanning device according to the point cloud feature information, so as to calibrate the field of view of the laser radar.

[0129] According to a preferred embodiment of the present application, the control device 44 is further configured to keep the size of the field of view of the laser radar unchanged, and adjust the range of the field of view of the laser radar.

[0130] According to a preferred embodiment of the present application, the control device 44 is further configured to determine whether the point cloud comprises the reference object before acquiring the point cloud feature information.

[0131] According to a preferred embodiment of the present application, the control device 44 is further configured to adjust the pose of the scanning device 43 according to the point cloud feature information and pre-stored feature information.

[0132] According to one preferred embodiment of the present application, the control device 44 is further configured to obtain the pre-stored feature information by the following steps:

[0133] By controlling the pose of the scanning device 43, the field of view of the laser radar is moved to obtain the point cloud corresponding to the reference object under multiple poses;

[0134] According to the point cloud corresponding to the reference object under multiple poses, multiple sets of point cloud feature information are obtained;

[0135] Each pose and its corresponding point cloud feature information are stored as pre-stored feature information.

[0136] According to one preferred embodiment of the present application, the control device 44 is further configured to:

[0137] The pose of the scanning device 43 is changed with the angular resolution of the laser radar as the control parameter until the boundary of the field of view of the laser radar reaches the window boundary of the laser radar 40.

[0138] According to one preferred embodiment of the present application, the control device 44 is further configured to change the pose of the scanning device 43 with the angular resolution of the laser radar as the control parameter until the reference object disappears in the point cloud.

[0139] According to one preferred embodiment of the present application, the control device 44 is further configured to determine the field of view offset of the laser radar and adjust the pose of the scanning device 43 according to the field of view offset.

[0140] According to one preferred embodiment of the present application, the control device 44 is further configured to correct the field of view of the laser radar when the laser radar 40 is stationary relative to the ground, and the reference object is located within the field of view of the laser radar.

[0141] In summary, the present application can reduce the near distance blind area of the laser radar and avoid the problem that the laser radar cannot normally detect due to field of view offset. The present application does not need to additionally set a target or a calibration scene, and the correction operation is completed in real time by starting the correction function, thereby saving recall costs. In one preferred embodiment of the present application, the laser radar is installed on a vehicle, and the field of view of the laser radar is as close as possible to the hood of the vehicle, which helps to reduce the detection blind area of the laser radar, and starting the correction function can keep the blind area at the optimal value at all times, thereby improving the perception performance of the vehicle and ensuring driving safety.

[0142] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that the technical solutions described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalent ones. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for calibrating a laser radar field of view, wherein the laser radar includes a scanning device configured to scan the laser radar field of view, the method comprising: S11: Acquire point cloud feature information according to the point cloud, where the point cloud feature information includes one or more of a contour of a reference object, a distance of the reference object, a reflectivity of the reference object, a number of scan lines in the point cloud corresponding to the reference object, and a total number of points in the point cloud corresponding to the reference object; S12: adjusting the position of the scanning device according to the point cloud feature information to correct the field of view of the laser radar; The step S12 further includes: determining a field of view offset of the laser radar, and adjusting the posture of the scanning device according to the field of view offset; Determine the posture of the scanning device when the lower boundary of the vertical field of view of the laser radar is higher than the upper boundary of the reference object, and adjust the scanning device to the posture to correct the vertical field of view of the laser radar.

2. The calibration method according to claim 1, wherein the calibration of the laser radar field of view further comprises: The size of the laser radar field of view is kept unchanged, and the field of view range of the laser radar is adjusted.

3. The calibration method according to claim 1, further comprising: Before acquiring point cloud feature information, it is determined whether the point cloud includes the reference object.

4. The calibration method according to any one of claims 1 to 3, wherein step S12 further comprises: The position and posture of the scanning device are adjusted according to the point cloud feature information and pre-stored feature information.

5. The calibration method according to claim 4, further comprising: Obtain pre-stored feature information by following these steps: S21: moving the laser radar field of view by controlling the position of the scanning device to obtain point clouds corresponding to the reference object in multiple positions; S22: Acquire multiple sets of point cloud feature information according to the point clouds corresponding to the reference objects in the multiple postures; S23: Each posture and its corresponding point cloud feature information are stored as pre-stored feature information.

6. The calibration method according to claim 5, wherein the step S21 comprises: The angular resolution of the laser radar is used as a control parameter to change the posture of the scanning device until the boundary of the laser radar field of view reaches the boundary of the laser radar window.

7. The calibration method according to claim 5, further comprising: Before acquiring the pre-stored feature information, the laser radar field of view is calibrated with external parameters.

8. The calibration method according to any one of claims 1 to 3, further comprising: The posture of the scanning device is changed to obtain multiple frames of point clouds. The step S11 further includes: obtaining multiple sets of point cloud feature information based on the multiple frames of point clouds.

9. The calibration method according to any one of claims 1 to 3, wherein step S12 further comprises: The angular resolution of the laser radar is used as a control parameter to change the posture of the scanning device until the reference object disappears in the point cloud.

10. The calibration method according to any one of claims 1 to 3, wherein the scanning device comprises a scanner and a position sensor, the laser radar determines the current position of the scanner through the position sensor, and step S12 further comprises: The initial position of the scanner is adjusted according to the field of view offset and the sampling information of the position sensor to correct the field of view of the laser radar.

11. The calibration method according to any one of claims 1 to 3, further comprising: The correction method is performed when the laser radar is stationary relative to the ground, and the reference object is located within the field of view of the laser radar.

12. The correction method according to any one of claims 1 to 3, wherein the laser radar and the reference object are installed on the same object, and the laser radar is used to detect the field of view in front of the reference object.

13. The calibration method according to claim 12, wherein the reference object is a hood of a vehicle and the laser radar is installed on the vehicle. 14 . A computer-readable storage medium comprising computer-executable instructions stored thereon, wherein the computer-executable instructions implement the correction method according to claim 1 when executed by a processor.

15. A laser radar comprising: a transmitting device for transmitting a detection beam; a receiving device for receiving an echo beam reflected by the object from the detection beam; A scanning device for scanning the laser radar field of view; and A control device is connected to the transmitting device, the receiving device and the scanning device, and is configured to: Acquire a point cloud through the receiving device; Acquire point cloud feature information according to the point cloud, the point cloud feature information including one or more of a contour of a reference object, a distance of the reference object, a reflectivity of the reference object, a number of scan lines in the point cloud corresponding to the reference object, and a total number of points in the point cloud corresponding to the reference object; Adjusting the position of the scanning device according to the point cloud feature information to correct the field of view of the laser radar; The control device is further configured to: determine the field of view offset of the laser radar, and adjust the posture of the scanning device according to the field of view offset; determine the posture of the scanning device when the lower boundary of the vertical field of view of the laser radar is higher than the upper boundary of the reference object, and adjust the scanning device to this posture to correct the vertical field of view of the laser radar.

16. The laser radar according to claim 15, wherein the control device is further configured to: keep the size of the laser radar field of view unchanged and adjust the field of view range of the laser radar.

17. The laser radar according to claim 15, wherein the control device is further configured to: before acquiring point cloud feature information, determine whether the point cloud includes the reference object.

18. The laser radar according to any one of claims 15-17, wherein the control device is further configured to: adjust the posture of the scanning device according to the point cloud feature information and pre-stored feature information.

19. The laser radar according to claim 18, wherein the control device is further configured to: obtain pre-stored feature information by the following steps: By controlling the position of the scanning device, the field of view of the laser radar is moved to obtain point clouds corresponding to the reference object in multiple positions; Acquire multiple sets of point cloud feature information according to the point clouds corresponding to the reference objects in the multiple poses; Each pose and its corresponding point cloud feature information are stored as pre-stored feature information.

20. The laser radar according to claim 19, wherein the control device is further configured to: The angular resolution of the laser radar is used as a control parameter to change the posture of the scanning device until the boundary of the laser radar field of view reaches the boundary of the laser radar window.

21. The laser radar according to any one of claims 15-17, wherein the control device is further configured to: change the posture of the scanning device using the angular resolution of the laser radar as a control parameter until the reference object disappears in the point cloud.

22. The laser radar according to any one of claims 15-17, wherein the control device is further configured to: correct the field of view of the laser radar when the laser radar is stationary relative to the ground, and the reference object is located within the field of view of the laser radar.

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