A method and device for correcting the horizontal angle between a laser radar and an unmanned vehicle

Abstract

The present invention discloses a method and device for correcting the horizontal angle between a laser radar and an unmanned vehicle, and relates to the field of autonomous driving technology. A specific implementation of the method includes: obtaining point cloud data of the laser radar at a first position and a second position during the driving process of the unmanned vehicle, and then obtaining the distance between the laser radar and the obstacle at the first position and the second position, as well as the horizontal angle between the laser radar and the obstacle at the second position; calculating the horizontal angle between the unmanned vehicle and the obstacle at the second position based on the distance between the laser radar and the obstacle at the first position and the second position and the distance between the first position and the second position; verifying whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range; if not, correcting the horizontal angle between the laser radar and the unmanned vehicle. This method realizes the correction of the horizontal angle between the laser radar and the unmanned vehicle during the driving process of the unmanned vehicle, thereby improving the driving safety of the unmanned vehicle.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method and device for correcting the horizontal angle between a laser radar and an unmanned vehicle. Background Art

[0002] Autonomous vehicles, also known as unmanned vehicles, are typically equipped with a variety of sensors to perceive their surroundings and objects. LiDAR, a primary sensor, offers accurate three-dimensional information about targets, a wide detection range, and strong anti-interference capabilities. The accuracy of the horizontal angle between the LiDAR and the unmanned vehicle directly impacts the reliability of the point cloud data collected by the LiDAR.

[0003] Currently, the accuracy of the horizontal angle between the lidar and the unmanned vehicle can only be verified through angle calibration tools before the unmanned vehicle leaves the factory and during routine maintenance of the unmanned vehicle. It cannot be verified while the vehicle is driving.

[0004] In view of this, there is an urgent need for a method to calibrate the horizontal angle between the laser radar and the unmanned vehicle to solve the problem that the vehicle cannot calibrate the horizontal angle between the laser radar and the unmanned vehicle while driving. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides a method for calibrating the horizontal angle between the laser radar and the unmanned vehicle, which can verify the horizontal angle between the laser radar and the unmanned vehicle in real time while the unmanned vehicle is driving.

[0006] In a first aspect, an embodiment of the present invention provides a method for correcting the horizontal angle between a laser radar and an unmanned vehicle, comprising:

[0007] When the unmanned vehicle travels to the first position, obtaining point cloud data of the laser radar of the unmanned vehicle at the first position;

[0008] Determining, based on point cloud data of the laser radar of the unmanned vehicle when the unmanned vehicle is in the first position, a distance between the laser radar of the unmanned vehicle and an obstacle when the unmanned vehicle is in the first position;

[0009] When the unmanned vehicle travels to a second position, obtaining point cloud data of the laser radar of the unmanned vehicle at the second position; the driving direction of the unmanned vehicle at the first position and the second position is the same;

[0010] Determine, based on the point cloud data of the laser radar of the unmanned vehicle when the unmanned vehicle is at the second position, the distance and horizontal angle between the laser radar of the unmanned vehicle and the obstacle when the unmanned vehicle is at the second position;

[0011] Calculate the horizontal angle between the unmanned vehicle and the obstacle at the second position based on the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distance between the first position and the second position;

[0012] According to the horizontal angle between the laser radar and the obstacle at the second position and the horizontal angle between the unmanned vehicle and the obstacle, it is verified whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range. If not, the horizontal angle between the laser radar and the unmanned vehicle is corrected.

[0013] In a second aspect, an embodiment of the present invention provides a device for correcting the horizontal angle between a laser radar and an unmanned vehicle, comprising:

[0014] A first determination module is configured to, when the unmanned vehicle travels to a first position, obtain point cloud data of a laser radar of the unmanned vehicle at the first position; and determine a distance between the laser radar of the unmanned vehicle and an obstacle at the first position based on the point cloud data of the laser radar of the unmanned vehicle at the first position;

[0015] a second determination module configured to, when the unmanned vehicle travels to a second position, obtain point cloud data of a laser radar of the unmanned vehicle at the second position; the driving direction of the unmanned vehicle at the first position and the second position is the same; and determine, based on the point cloud data of the laser radar of the unmanned vehicle at the second position, a distance and a horizontal angle between the laser radar of the unmanned vehicle and an obstacle at the second position;

[0016] a calculation module configured to calculate a horizontal angle between the unmanned vehicle and the obstacle at the second position based on the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distance between the first position and the second position;

[0017] The correction module is configured to verify whether the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position is within a preset error range. If not, the horizontal angle between the laser radar and the unmanned vehicle is corrected.

[0018] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor implements the method described in any of the above embodiments when executing the program.

[0019] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the method described in any of the above embodiments.

[0020] One embodiment of the above invention has the following advantages or beneficial effects: during the driving process of the unmanned vehicle, the point cloud data of the laser radar of the unmanned vehicle at the first position and the second position are obtained. Based on the point cloud data of the first position and the second position, the distance between the laser radar and the obstacle of the unmanned vehicle at the first position and the second position, as well as the horizontal angle between the laser radar and the obstacle of the unmanned vehicle at the second position are respectively obtained. Based on the distance between the laser radar and the obstacle at the first position, the distance between the laser radar and the obstacle at the second position, and the distance between the first position and the second position, the horizontal angle between the unmanned vehicle and the obstacle at the second position can be calculated. Based on the horizontal angle between the laser radar and the obstacle at the second position and the horizontal angle between the unmanned vehicle and the obstacle, it can be verified whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range. If not, the horizontal angle between the laser radar and the unmanned vehicle is corrected. Through this method, the horizontal angle between the laser radar and the unmanned vehicle can be corrected during the driving process of the unmanned vehicle, thereby improving the reliability of the laser radar point cloud data and the safety of the unmanned vehicle.

[0021] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are provided for a better understanding of the present invention and are not intended to limit the present invention.

[0023] Figure 1 This is a flow chart of a method for correcting the horizontal angle between a laser radar and an unmanned vehicle provided by one embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of verifying the horizontal angle between a laser radar and an unmanned vehicle according to an embodiment of the present invention;

[0025] Figure 3 This is a flow chart of a device for correcting the horizontal angle between a laser radar and an unmanned vehicle provided by an embodiment of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of a computer system of a terminal device or a server suitable for implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following description of exemplary embodiments of the present invention is made in conjunction with the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding. These details should be considered as merely exemplary. Therefore, it should be appreciated by those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0028] As the most important sensor for autonomous vehicles, LiDAR offers significant advantages in acquiring target information, resisting interference, and maintaining a high detection range. However, the accuracy of the horizontal angle between the LiDAR and the autonomous vehicle directly impacts the reliability of the LiDAR point cloud data. Currently, this accuracy verification can only be performed before the vehicle leaves the factory or during routine maintenance; it cannot be completed while the vehicle is in motion.

[0029] In view of this, according to Figure 1 , an embodiment of the present invention provides a method for correcting the horizontal angle between a laser radar and an unmanned vehicle, comprising:

[0030] Step 101: When the unmanned vehicle travels to a first position, obtain the point cloud data of the laser radar when the unmanned vehicle is at the first position.

[0031] During the driving process of the unmanned vehicle, the lidar point cloud data of the unmanned vehicle is collected when it is at a certain position. This position is the first position. The first position can be the initial point of the driving trajectory or other points on the driving trajectory.

[0032] Step 102: Determine the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position based on the point cloud data of the laser radar when the unmanned vehicle is at the first position.

[0033] According to the point cloud data of the laser radar collected at the first position in step 101, the distance between the laser radar and the obstacle at the first position of the unmanned vehicle is determined. The distance can be obtained from the point cloud data.

[0034] Step 103: When the unmanned vehicle travels to the second position, obtain the point cloud data of the laser radar at the second position.

[0035] The second position is a position reached by the unmanned vehicle when traveling away from the first position. The driving direction of the unmanned vehicle at the second position is the same as the driving direction at the first position.

[0036] Step 104 , determining the distance and horizontal angle between the laser radar and the obstacle when the unmanned vehicle is at the second position based on the point cloud data of the laser radar when the unmanned vehicle is at the second position.

[0037] Based on the point cloud data of the lidar collected by the unmanned vehicle at the second position, the distance and horizontal angle between the lidar and the obstacle at the second position of the unmanned vehicle can be obtained.

[0038] Step 105 , calculate the horizontal angle between the unmanned vehicle and the obstacle at the second position based on the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distance between the first position and the second position.

[0039] The point cloud data collected by the unmanned vehicle using the LiDAR at its first and second positions can be used to obtain the coordinates of the first and second positions. Based on the coordinates, the distance between the first and second positions can be calculated. Based on the law of cosines, the horizontal angle between the unmanned vehicle and the obstacle at the first position, the distance between the LiDAR at the second position, and the distance between the first and second positions can be calculated. This horizontal angle refers to the angle between the vehicle's direction of travel and the obstacle.

[0040] Step 106, based on the horizontal angles of the laser radar and the obstacle at the second position and the horizontal angles of the unmanned vehicle and the obstacle, verify whether the horizontal angles of the laser radar and the unmanned vehicle are within a preset error range. When the horizontal angles of the laser radar and the unmanned vehicle are not within the preset error range, correct the horizontal angles of the laser radar and the unmanned vehicle.

[0041] Based on the horizontal angle between the lidar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position, the angle difference between the two angles is calculated. This angle difference is the horizontal angle between the lidar and the unmanned vehicle.

[0042] If the horizontal angle between the LiDAR and the unmanned vehicle is within the preset error range, the calibration result is accurate, and the process returns to step 103 for the next calibration. If not, the calibration result is inaccurate. To ensure the reliability of the collected LiDAR point cloud data, the horizontal angle between the LiDAR and the unmanned vehicle must be calibrated. There are at least two calibration methods: one is for the unmanned vehicle to send an abnormal signal to the backend, then stop for manual calibration, and the other is for the LiDAR to automatically calibrate. For example, if the horizontal angle between the LiDAR and the unmanned vehicle is 5 degrees, the LiDAR is controlled to adjust by 5 degrees.

[0043] In an embodiment of the present invention, during the driving process of the unmanned vehicle, laser radar point cloud data is obtained at the first and second positions of the unmanned vehicle. Based on the point cloud data at the first and second positions, the distance between the laser radar and the obstacle at the first and second positions, as well as the horizontal angle between the laser radar and the obstacle at the second position, are respectively obtained. Based on the distance between the laser radar and the obstacle at the first position, the distance between the laser radar and the obstacle at the second position, and the distances at the first and second positions, the horizontal angle between the unmanned vehicle and the obstacle at the second position can be calculated. Based on the horizontal angle between the laser radar and the obstacle at the second position and the horizontal angle between the unmanned vehicle and the obstacle, it is possible to verify whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range. If not, the horizontal angle between the laser radar and the unmanned vehicle is corrected. This method allows the horizontal angle between the laser radar and the unmanned vehicle to be corrected during driving, improving the reliability of the laser radar point cloud data and the safety of the unmanned vehicle. Furthermore, by repeating steps 103 to 106, the horizontal angle between the laser radar and the unmanned vehicle can be verified in real time.

[0044] In one embodiment of the present invention, calculating the horizontal angle between the unmanned vehicle and the obstacle at the second position based on the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distance between the first position and the second position includes:

[0045] Calculate an angle formed by the obstacle, the second position, and the first position based on the distance between the laser radar and the obstacle when the unmanned vehicle is in the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is in the second position, and the distance between the first position and the second position;

[0046] The horizontal angle between the unmanned vehicle and the obstacle at the second position is calculated based on the angle formed by the obstacle, the second position, and the first position.

[0047] Specifically, assuming that the first position is point a, the position of the obstacle is point b, and the second position is point c, the distance between the line segments ab is the distance between the laser radar and the obstacle when the unmanned vehicle is in the first position, the distance between the line segments bc is the distance between the laser radar and the obstacle when the unmanned vehicle is in the second position, and the line segment ac is the distance between the first position and the second position. The line segments ab, bc, and ac form a triangle abc. Based on the law of cosines, the angle of one of the angles bca in the triangle can be obtained, that is, the angle formed by the obstacle, the second position, and the first position. Based on this angle, the horizontal angle between the unmanned vehicle and the obstacle can be calculated, where the horizontal angle between the unmanned vehicle and the obstacle and the angle formed by the obstacle, the second position, and the first position are complementary angles.

[0048] In an embodiment of the present invention, a triangle is formed by the distance between the laser radar and the obstacle when the unmanned vehicle is in the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is in the second position, and the distance between the first position and the second position. Based on the law of cosines, the angle formed by the obstacle, the second position, and the first position can be quickly and easily calculated, and then the horizontal angle between the unmanned vehicle and the obstacle can be calculated.

[0049] In one embodiment of the present invention, verifying whether the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position is within a preset error range includes:

[0050] Calculating the angle difference between the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position;

[0051] Check whether the angle difference is within a preset error range.

[0052] Specifically, based on the horizontal angles between the LiDAR and the obstacle at the second position, and the horizontal angles between the UAV and the obstacle, the difference between these two angles can be calculated. This difference is the horizontal angle between the LiDAR and the UAV. This difference is then verified to be within the preset error range. If it is within the error range, the horizontal angle verification result between the LiDAR and the UAV is accurate. For example, if the horizontal angle between the LiDAR and the obstacle at the second position is 30 degrees, and the horizontal angle between the UAV and the obstacle is 35 degrees, then the difference between the two angles is 5 degrees. Assuming the preset error range is 0 to 10 degrees, if the difference of 5 degrees is determined to be within the preset error range, then the horizontal angle between the LiDAR and the UAV meets the requirements.

[0053] In an embodiment of the present invention, the horizontal angle between the laser radar and the obstacle is calculated based on the horizontal angle between the laser radar and the obstacle, and the horizontal angle between the unmanned vehicle and the obstacle. By comparing whether the horizontal angle between the laser radar and the unmanned vehicle is within a preset error range, the horizontal angle between the laser radar and the unmanned vehicle is calibrated, and the deviation value of the horizontal angle between the laser radar and the unmanned vehicle can be accurately known.

[0054] In one embodiment of the present invention, correcting the horizontal angle between the laser radar and the unmanned vehicle includes:

[0055] The horizontal angle between the laser radar and the unmanned vehicle is adjusted according to the angle difference.

[0056] Specifically, if the angle difference is not within the preset error range, adjustments are made based on the angle difference, and the horizontal angle between the lidar and the unmanned vehicle is adjusted to 0 degrees.

[0057] In an embodiment of the present invention, adjustments can be made based on the angle difference, that is, the horizontal angle between the laser radar and the unmanned vehicle, to correct the horizontal angle between the laser radar and the unmanned vehicle, thereby improving the reliability of the laser radar point cloud data and the safety of the unmanned vehicle.

[0058] like Figure 2 The figure shows a schematic diagram of the horizontal angle calibration between the laser radar and the unmanned vehicle provided by an embodiment of the present invention. In the figure, B refers to the position of the obstacle. When the vehicle travels to the first position A1, the point cloud data of the laser radar is collected. According to the point cloud data of A1, the distance M between the laser radar and the obstacle when the unmanned vehicle is at position A1 can be obtained. The unmanned vehicle travels in a straight line to the second position A2, collects the point cloud data of the laser radar, and obtains the distance N and the horizontal angle θ between the laser radar and the obstacle when the unmanned vehicle is at position A2 according to the point cloud data of A2. According to the point cloud data of the laser radar collected at position A1 and position A2, the distance L between A1 and A2 can be obtained. Thus, positions A1, B, and A2 form a triangle. According to the three sides M, N, and L of the triangle, the angle β can be calculated using the cosine theorem:

[0059]

[0060] The angle α between the unmanned vehicle and obstacle B when the unmanned vehicle is at position A2 is calculated from β:

[0061] α=180°-β

[0062] Based on α and θ, the difference between the two angles can be calculated. This difference is the horizontal angle between the laser radar and the unmanned vehicle. Then, it is determined whether the difference is within the preset error range. If it is within the preset error range, the horizontal angle between the laser radar and the unmanned vehicle is accurate. If not, adjustments are made based on the difference to correct the horizontal angle between the laser radar and the unmanned vehicle to the accurate range.

[0063] like Figure 3 As shown, the embodiment of this specification provides a device for correcting the horizontal angle between a laser radar and an unmanned vehicle, including:

[0064] The first determination module 301 is configured to, when the unmanned vehicle travels to a first position, obtain point cloud data of a laser radar of the unmanned vehicle at the first position; and determine the distance between the laser radar of the unmanned vehicle and an obstacle at the first position based on the point cloud data of the laser radar of the unmanned vehicle at the first position;

[0065] The second determination module 302 is configured to, when the unmanned vehicle travels to a second position, obtain point cloud data of the laser radar of the unmanned vehicle at the second position; the driving direction of the unmanned vehicle at the first position and the second position is the same; and determine the distance and horizontal angle between the laser radar of the unmanned vehicle and the obstacle at the second position based on the point cloud data of the laser radar of the unmanned vehicle;

[0066] a calculation module 303 configured to calculate a horizontal angle between the unmanned vehicle and the obstacle at the second position based on the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distance between the first position and the second position;

[0067] The correction module 304 is configured to verify whether the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position is within a preset error range. If not, the horizontal angle between the laser radar and the unmanned vehicle is corrected.

[0068] In one embodiment of the present invention, the calculation module 303 is configured to calculate the angle formed by the obstacle, the second position and the first position based on the distance between the laser radar and the obstacle when the unmanned vehicle is in the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is in the second position, and the distance between the first position and the second position; and calculate the horizontal angle between the unmanned vehicle and the obstacle at the second position based on the angle formed by the obstacle, the second position and the first position.

[0069] In one embodiment of the present invention, the correction module 304 is configured to calculate the angle difference between the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position; and verify whether the angle difference is within a preset error range.

[0070] In one embodiment of the present invention, the correction module 304 is configured to adjust the horizontal angle between the laser radar and the unmanned vehicle according to the angle difference.

[0071] An embodiment of this specification provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the method described in any of the above embodiments is implemented.

[0072] Reference below Figure 4 , which shows a schematic structural diagram of a computer system 400 of a terminal device suitable for implementing an embodiment of the present invention. Figure 4The terminal device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0073] like Figure 4 As shown, the computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage unit 408 into a random access memory (RAM) 403. Various programs and data required for the operation of the system 400 are also stored in the RAM 403. The CPU 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0074] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 408 including a hard disk; and a communication section 409 including a network interface card such as a LAN card or a modem. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. Removable media 411, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 410 as needed, so that computer programs read therefrom can be installed into the storage section 408 as needed.

[0075] In particular, according to the embodiments disclosed in the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 409, and / or installed from a removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the above-mentioned functions defined in the system of the present invention are performed.

[0076] It should be noted that the computer-readable medium described in the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0077] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0078] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The modules described may also be provided in a processor. For example, they may be described as follows: a processor includes a sending module, an acquisition module, a determination module, and a first processing module. The names of these modules do not, in some cases, limit the modules themselves. For example, the sending module may also be described as a "module for sending a picture acquisition request to the connected server."

[0079] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for correcting the horizontal angle between a laser radar and an unmanned vehicle, characterized in that: include: When the unmanned vehicle travels to the first position, obtaining point cloud data of the laser radar of the unmanned vehicle at the first position; Determining, based on point cloud data of the laser radar of the unmanned vehicle when the unmanned vehicle is in the first position, a distance between the laser radar of the unmanned vehicle and an obstacle when the unmanned vehicle is in the first position; When the unmanned vehicle travels to a second position, obtaining point cloud data of the laser radar of the unmanned vehicle at the second position; the driving direction of the unmanned vehicle at the first position and the second position is the same; Determine, based on the point cloud data of the laser radar of the unmanned vehicle when the unmanned vehicle is at the second position, the distance and horizontal angle between the laser radar of the unmanned vehicle and the obstacle when the unmanned vehicle is at the second position; Calculate the horizontal angle between the unmanned vehicle and the obstacle at the second position based on the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distance between the first position and the second position; verifying whether the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position is within a preset error range, and if not, correcting the horizontal angle between the laser radar and the unmanned vehicle; Calculating a horizontal angle between the unmanned vehicle and the obstacle at the second position based on a distance between a laser radar and the obstacle when the unmanned vehicle is at the first position, a distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and a distance between the first position and the second position includes: Calculate the angle formed by the obstacle, the second position, and the first position using the law of cosines based on the distance between the laser radar and the obstacle when the unmanned vehicle is in the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is in the second position, and the distance between the first position and the second position; According to the included angle formed by the obstacle, the second position, and the first position, a horizontal angle between the unmanned vehicle and the obstacle at the second position is calculated, where the horizontal angle and the included angle are complementary angles.

2. The method according to claim 1, wherein Verifying whether the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position is within a preset error range includes: Calculating the angle difference between the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position; Check whether the angle difference is within a preset error range.

3. The method according to claim 2, wherein Correcting the horizontal angle between the laser radar and the unmanned vehicle includes: The horizontal angle between the laser radar and the unmanned vehicle is adjusted according to the angle difference.

4. A device for correcting the horizontal angle between a laser radar and an unmanned vehicle, characterized in that: include: A first determination module is configured to, when the unmanned vehicle travels to a first position, obtain point cloud data of a laser radar of the unmanned vehicle at the first position; and determine a distance between the laser radar of the unmanned vehicle and an obstacle at the first position based on the point cloud data of the laser radar of the unmanned vehicle at the first position; a second determination module configured to, when the unmanned vehicle travels to a second position, obtain point cloud data of a laser radar of the unmanned vehicle at the second position; the driving direction of the unmanned vehicle at the first position and the second position is the same; and determine, based on the point cloud data of the laser radar of the unmanned vehicle at the second position, a distance and a horizontal angle between the laser radar of the unmanned vehicle and an obstacle at the second position; a calculation module configured to calculate a horizontal angle between the unmanned vehicle and the obstacle at the second position based on the distance between the laser radar and the obstacle when the unmanned vehicle is at the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is at the second position, and the distance between the first position and the second position; a correction module configured to verify whether the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position is within a preset error range, and if not, correct the horizontal angle between the laser radar and the unmanned vehicle; The calculation module is configured to calculate the angle formed by the obstacle, the second position, and the first position using the cosine theorem based on the distance between the laser radar and the obstacle when the unmanned vehicle is in the first position, the distance between the laser radar and the obstacle when the unmanned vehicle is in the second position, and the distance between the first position and the second position; and calculate the horizontal angle between the unmanned vehicle and the obstacle when the unmanned vehicle is in the second position based on the angle formed by the obstacle, the second position, and the first position, where the horizontal angle and the included angle are complementary to each other.

5. The device according to claim 4, characterized in that The correction module is configured to calculate the angle difference between the horizontal angle between the laser radar and the obstacle and the horizontal angle between the unmanned vehicle and the obstacle at the second position; and verify whether the angle difference is within a preset error range.

6. The device according to claim 5, characterized in that The correction module is configured to adjust the horizontal angle between the laser radar and the unmanned vehicle according to the angle difference.

7. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 3.

8. A computer-readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 3 is implemented.

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