Laser radar calibration method and device, computer equipment and storage medium

Abstract

The invention belongs to the technical field of laser radars, and provides a laser radar calibration method and device, computer equipment and a storage medium, and the method comprises the steps: rotating a laser radar, enabling a light spot emitted by an nth emitter of the laser radar to irradiate a detection region of a calibration plate with a known size from an original position, rotation data generated when the laser radar rotates the nth transmitter is recorded; based on preset data parameters of the calibration plate, target light spot image coordinates corresponding to laser beams emitted by the emitters, and rotation data generated by the motor, a corresponding real emitting angle of a light spot emitted by a single emitter at an original position is obtained. The emergent angle of the laser radar transmitter can be calibrated more efficiently by using the real emergent angle, and the real performance of the laser radar is restored.

Description

Technical Field

[0001] The present application belongs to the field of laser radar technology, and in particular, relates to a laser radar calibration method, device, computer equipment and storage medium. Background Art

[0002] As a high-precision sensor, laser radar plays an important role in the fields of transportation, surveying and mapping, and its characteristic is that it can reflect the surrounding environment and the position relationship of objects. During the production process of multi-channel laser radar, the emission angle of each channel light path will be produced according to the design angle, and then the error in the production process may make the actual emission angle different from the set emission angle; in addition, after the laser radar is produced, with the increase of usage time and other objective factors, it may also cause errors between the actual emission angle of each channel light path of the radar and the initial set angle. Summary of the invention

[0003] The embodiments of the present application provide a laser radar calibration method, apparatus, computer equipment and storage medium, which are intended to solve the technical problem that there is an error between the actual emission angle of the laser radar channel light path and the initially set angle.

[0004] In a first aspect, an embodiment of the present application provides a laser radar calibration method, comprising:

[0005] Rotate the laser radar so that the light spot emitted by the nth emitter of the laser radar is irradiated from the original position to the detection area of ​​the calibration plate, and record the rotation data generated by the laser radar rotating the nth emitter, where n is a positive integer;

[0006] Determining preset data parameters of the calibration plate;

[0007] Obtaining the target light spot image coordinates of the light spot of the nth emitter irradiated on the detection area;

[0008] Based on the preset data parameters of the calibration plate, the target light spot image coordinates, and the rotation data, the actual emission angle corresponding to the light spot emitted by the nth emitter at the original position is obtained, wherein the actual emission angle is used to calibrate the set emission angle of the nth emitter.

[0009] In a first possible implementation manner of the first aspect, the preset data parameters of the calibration plate include a preset distance between the calibration plate and the laser radar, and two-dimensional image feature data of the calibration plate;

[0010] The method of obtaining the real emission angle corresponding to the light spot emitted by the nth emitter at the original position based on the preset data parameters of the calibration plate, the target light spot image coordinates, and the rotation data includes:

[0011] Based on the preset distance and the two-dimensional image feature data, calculating the target light beam vector corresponding to the target light spot image coordinates in the spatial coordinate system;

[0012] Acquire, based on the rotation data and the target beam vector, an original beam vector corresponding to the light spot emitted by the nth emitter at the original position;

[0013] The actual emission angle corresponding to the light spot emitted by the nth emitter at the original position is determined based on the original light beam vector.

[0014] In a first possible implementation manner of the first aspect, the preset data parameters of the calibration plate further include radar space coordinates of the laser radar in a space coordinate system; the target spot image coordinates and the two-dimensional image feature data are both pixel data in the two-dimensional image coordinate system of the calibration plate;

[0015] The step of calculating the target light beam vector corresponding to the target light spot image coordinates in the space coordinate system based on the preset distance and the two-dimensional image feature data includes:

[0016] Acquire a first mapping relationship between the two-dimensional image coordinate system and the space coordinate system based on the radar space coordinates, the preset distance and the two-dimensional image feature data;

[0017] Calculate the target light beam vector corresponding to the target light spot image coordinates in the space coordinate system according to the first mapping relationship;

[0018] The obtaining, based on the rotation data and the target beam vector, an original beam vector corresponding to the light spot emitted by the nth emitter at the original position comprises:

[0019] The target light beam vector is moved in reverse according to the rotation data to obtain the original light beam vector corresponding to the light spot emitted by the nth emitter at the original position.

[0020] In a first possible implementation manner of the first aspect, the rotation data includes horizontal rotation data and pitch data;

[0021] The step of reversely moving the target light beam vector according to the rotation data to obtain the original light beam vector corresponding to the light spot emitted by the nth emitter at the original position includes:

[0022] According to the horizontal rotation data, the light beam corresponding to the target light beam vector is horizontally rotated in the opposite direction to obtain a transition light beam vector;

[0023] According to the pitch data, a pitch operation is performed in the reverse direction on the light beam corresponding to the transitional light beam vector to obtain the original light beam vector corresponding to the light spot emitted by the nth emitter at the original position.

[0024] or

[0025] Perform a reverse pitch operation on the light beam corresponding to the target light beam vector according to the pitch data to obtain a transition light beam vector;

[0026] The light beam corresponding to the transition light beam vector is horizontally rotated in the opposite direction according to the horizontal rotation data to obtain the original light beam vector corresponding to the light spot emitted by the nth emitter at the original position.

[0027] In a first possible implementation manner of the first aspect, determining, based on the original light beam vector, a real emission angle corresponding to the light spot emitted by the nth emitter at the original position includes:

[0028] Acquire a laser radar coordinate system having a second mapping relationship with the spatial coordinate system;

[0029] Based on the second mapping relationship, the original light beam vector is converted into the laser radar coordinate system to obtain the real emission angle corresponding to the spot of the laser beam emitted by a single emitter when it is at the original position; the real emission angle includes the vertical angle of the spot and the horizontal angle of the spot, the vertical angle of the spot is the angle between the laser beam emitted by the nth emitter at the original position and the horizontal plane of the laser radar coordinate system, and the horizontal angle of the spot is the angle between the laser beam emitted by the nth emitter at the original position and the vertical plane of the laser radar coordinate system.

[0030] In a first possible implementation manner of the first aspect, acquiring a laser radar coordinate system having a second mapping relationship with the spatial coordinate system includes:

[0031] Acquire a reference beam established in the spatial coordinate system and a laser radar coordinate system including the reference beam;

[0032] The converting the original light beam vector into the laser radar coordinate system based on the second mapping relationship to obtain a real emission angle corresponding to the light spot emitted by a single emitter at the original position includes:

[0033] Determine the vector of the first light beam corresponding to the first transmitter of the laser radar, and the vector of the n-1th light beam corresponding to the n-1th transmitter other than the first transmitter;

[0034] Rotating the first light beam to the reference light beam to transform the vector of the first light beam to the laser radar coordinate system, and obtaining a real emission angle of the light spot emitted by the first emitter in the laser radar coordinate system;

[0035] Calculate the rotation information generated by the rotation of the first light beam to the reference light beam, rotate the vector of the n-1th light beam according to the rotation information to transform the vector of the n-1th light beam into the lidar coordinate system, and obtain the real emission angle of the light spot emitted by the n-1th transmitter in the lidar coordinate system.

[0036] In a first possible implementation manner of the first aspect, the method further includes:

[0037] The actual emission angle is transmitted to the laser radar, so that the nth transmitter of the laser radar calculates the data detected by the laser radar according to the actual emission angle when working.

[0038] The beneficial effect of the first aspect of the present application is that: based on the preset data parameters of the calibration plate, the target spot image coordinates corresponding to the laser beam emitted by the transmitter, and the rotation data generated by the motor, the real emission angle corresponding to the spot emitted by a single transmitter at the original position is obtained, and the real emission angle can be used to calibrate the emission angle of the laser radar transmitter more efficiently, restoring the real performance of the laser radar

[0039] In a second aspect, an embodiment of the present application provides a laser radar calibration device, including:

[0040] A rotation module, used to rotate the laser radar so that the light spot emitted by the nth emitter of the laser radar is irradiated from the original position to the detection area of ​​the calibration plate, and record the rotation data generated by the laser radar rotating the nth emitter, wherein n is a positive integer;

[0041] A determination module, used to determine the preset data parameters of the calibration plate;

[0042] An acquisition module, used for acquiring the target light spot image coordinates of the light spot of the nth emitter irradiated on the detection area;

[0043] A calculation module is used to obtain the actual emission angle corresponding to the light spot emitted by the nth emitter at the original position based on the preset data parameters of the calibration plate, the target light spot image coordinates, and the rotation data, wherein the actual emission angle is used to calibrate the set emission angle of the nth emitter.

[0044] In a third aspect, the present invention further proposes a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, the steps of the laser radar calibration method as described in any one of the above items are implemented.

[0045] In a fourth aspect, the present invention further proposes a storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the laser radar calibration method as described in any one of the above items are implemented.

[0046] It can be understood that the beneficial effects of the third aspect or the fourth aspect mentioned above can be found in the relevant description of the first aspect or the second aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 is a structural diagram of a computer device provided in one embodiment of the present application;

[0049] Figure 2 It is a schematic diagram of a conventional laser radar calibration method in which a laser radar light spot is irradiated onto a 10% reflective surface calibration plate;

[0050] Figure 3 is a schematic diagram of a laser radar calibration system in a coordinate plane of a spatial coordinate system in one embodiment of the present application;

[0051] Figure 4 It is a schematic diagram of a flow chart of an embodiment of a laser radar calibration method provided by the present application;

[0052] Figure 5 is a schematic diagram of a light spot emitted by a laser radar irradiating a checkerboard calibration plate in one embodiment of the present application;

[0053] Figure 6 A schematic diagram of a flow chart of an implementation method for obtaining the actual emission angle of a single emitter in an embodiment of the present application.

[0054] Figure 7 It is a schematic diagram of a light spot emitted by a laser radar irradiating a calibration plate with a known fixed size in one embodiment of the present application.

[0055] Figure 8It is a schematic diagram of another embodiment of the laser radar calibration method provided by the present application;

[0056] Fig. 9 is a schematic diagram of rotation information generated by rotating the first light beam to the reference light beam in one embodiment of the present application;

[0057] Fig.10 It is a structural schematic diagram of the laser radar calibration device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0058] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0059] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0060] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0061] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0062] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0063] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0064] An embodiment of the present invention provides a computer device, such as Figure 1 As shown, Figure 1 The computer device 1 of this embodiment includes: at least one processor 1001 ( Figure 1 Only one is shown), a memory 1005, and a computer program 1006 stored in the memory 1005 and executable on the at least one processor 1001, wherein the processor 1001 implements the steps in the embodiment of the laser radar calibration method of the present application when executing the computer program 1006.

[0065] The computer device 1 also includes a laser radar interface 1003, which is used to connect the laser radar device to be calibrated. The computer device 1 can obtain relevant parameters of the laser radar device to be calibrated through the laser radar interface 1003; the computer device 1 can also transmit relevant data to the laser radar device to be calibrated through the laser radar interface 1003.

[0066] The computer device 1 can be a computer device specifically used for calibrating the laser radar. The computer device can directly issue control commands to the laser radar, or can obtain the working parameter information of the laser radar. After the laser radar leaves the factory, the user can use the computer device at any time to enable the computer device to run the computer program 1006 to calibrate the laser radar.

[0067] The computer device 1 may further include a camera interface 1004, which may be used to collect two-dimensional image feature data of a laser radar calibration plate; in some embodiments, the camera interface 1004 may be connected to an internal image sensor of the computer device 1, and in other embodiments, the camera interface 1004 may also be connected to an external camera device of the computer device 1.

[0068] Those skilled in the art will understand that Figure 1This is merely an example of the computer device 1 and does not constitute a limitation on the computer device 1 , which may include more or fewer components than shown in the figure, or a combination of certain components, or different components.

[0069] The processor 1001 may be a central processing unit (CPU), and the processor 10 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0070] In some embodiments, the memory 1005 may be an internal storage unit of the computer device 1, such as a hard disk or memory of the computer device 1. In other embodiments, the memory 1005 may also be an external storage device of the computer device 1, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device 1. Further, the memory 1005 may also include both an internal storage unit of the computer device 1 and an external storage device. The memory 1005 is used to store an operating system, a computer execution program of the laser radar calibration method, etc., and the computer execution program may at least include an image processing program and a motion control program.

[0071] It is understandable that LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to emit a laser beam to the target (the laser beam is used as a detection signal), and then compare the received signal reflected from the detected target (target echo) with the transmitted signal. After appropriate processing, relevant information about the detected target (target direction, distance, height, attitude, speed, shape and other parameters) can be obtained, thereby detecting, tracking and identifying target objects such as pedestrians and vehicles. LiDAR is usually composed of a (laser) transmitter, an (optical receiver), a turntable and an information processing system.

[0072] The laser radar that needs to be calibrated in the present invention application is a multi-channel laser radar. The multi-channel laser radar is composed of multiple transmitters and receivers. Through the rotation of the motor, multiple wire beams are obtained, that is, each channel corresponds to a transmitter and a receiver; in the process of making the multi-channel laser radar, the emission angle of each channel optical path will be assembled according to the design angle. Since the emission angle of the radar transmitter cannot fully reach the accuracy of the design angle during the assembly of the laser radar, or after the laser radar leaves the factory, objective factors such as the increase in the use time cause an error between the actual emission angle of the current radar transmitter and the initial design angle, so that the actual point cloud data finally sensed by the laser radar and the point cloud data theoretically obtained according to the design angle of the transmitter have an error, thereby distorting the performance of the laser radar; the current vehicle-mounted and roadside laser radars have a ranging capability of up to several hundred meters. If the actual emission angle of the laser radar deviates by 0.1°, the error at 200 meters will reach more than 0.3m, which will cause the final detection data to be very inaccurate, seriously affecting the user experience.

[0073] In order to solve the technical problem of "there is an error between the actual emission angle of the channel optical path of the laser radar and the initial set angle" mentioned in the above background technology, on the first aspect, the present invention proposes an embodiment of a laser radar calibration method, which can be used in a specific radar calibration environment, that is, a calibration plate is placed directly in front of the laser radar, and the laser radar is calibrated by the calibration plate.

[0074] It should be noted that the conventional laser radar calibration uses a 10% reflectivity calibration plate, wherein the 10% reflectivity refers to the ratio of the laser reflected by the reflector to the laser emitted; in this embodiment, the 10% reflectivity calibration plate for calibrating the laser radar is replaced with a calibration plate with a known fixed size, and the camera can collect the two-dimensional image feature data in the calibration plate with a known fixed size;

[0075] Among them, in the specific calibration scheme, Figure 3 A schematic diagram of a laser radar calibration system under a YOZ coordinate plane of a spatial coordinate system (the present embodiment is described by taking the YOZ coordinate plane perpendicular to the horizontal plane as an example, and the YOZ coordinate plane is hereinafter referred to as a vertical plane; the XOY coordinate plane of the corresponding spatial coordinate system is parallel to the horizontal plane, and the XOY coordinate plane is perpendicular to the YOZ coordinate plane, and the XOY coordinate plane is hereinafter referred to as a horizontal plane), wherein the laser radar calibration system includes a laser radar itself, a calibration plate with fixed size features, and a computer device for executing a laser radar calibration method;

[0076] like Figure 3As shown, the laser radar luminous center 0 is the origin of the spatial coordinate system, the front of the laser radar is the positive direction of the Y axis of the spatial coordinate system, the Y axis direction directly above the laser radar and perpendicular to the spatial coordinate system is the positive direction of the Z axis of the spatial coordinate system, and the direction perpendicular to the Y and Z axes of the spatial coordinate system and toward the right side of the YOZ plane is the positive direction of the X axis of the spatial coordinate system. The calibration plate with fixed size features is directly in front of the laser radar, that is, the calibration plate plane is perpendicular to the Y axis of the spatial coordinate system, and the distance between the two is D meters. Figure 3 The plane coordinates of the intersection of the calibration plate and the Y axis are (D, 0), and the spatial coordinates of this intersection are (0, D, 0);

[0077] Furthermore, Figure 4 A flow chart of the first embodiment of the laser radar calibration method provided in the present application is shown. As an example and not a limitation, the executor of the laser radar calibration method in this embodiment is a computer device, and the computer device establishes a data transmission connection with the laser radar to be calibrated to receive parameter data of the laser radar to be calibrated or transmit data to the laser radar; the computer device can collect two-dimensional image feature points in a calibration plate with known fixed size features through a camera. For example, the calibration plate in this embodiment can be a checkerboard with a known fixed grid size, and the pixel coordinates of the grid feature points on the checkerboard are collected through the camera.

[0078] In specific applications, the application scenario of the laser radar calibration method of this embodiment is explained by taking the laser radar as an example after it is assembled and shipped from the factory, and the user uses the above-mentioned computer device to execute the relevant procedures of the laser radar calibration method of this embodiment. The laser radar can be used in vehicles with driving functions such as automobiles. The user can be a professional staff member of a car company or sales store, or a vehicle driver, etc.

[0079] It should be noted that in the prior art, the emission angles of the transmitters of multi-channel laser radars are often calibrated before the laser radars are assembled and shipped. The prior art calibration method usually requires moving the light spots emitted by each transmitter to the same position (target position) of a calibration plate that can receive the light spots (such as a calibration plate with a 10% reflection surface), and capturing the light spot coordinates through sensors such as infrared cameras to determine whether the light spot has moved to the target position coordinates. For each laser radar transmitter, the motor needs to rotate multiple times to make the light spot of a single laser radar transmitter illuminate the target position of the calibration plate, which is time-consuming and inefficient, and seriously affects the factory delivery progress of the laser radar.

[0080] The laser radar calibration method of this embodiment can not only be applied to the use scenarios of the laser radar after it is assembled and shipped from the factory, but the laser radar calibration method of this embodiment does not need to force the radar motor to rotate multiple times like the conventional laser radar calibration method, which can significantly reduce the number of motor movements and greatly improve the calibration efficiency: in the conventional calibration scheme, multiple motor movement operations need to be performed for each channel transmitter, while in this embodiment, each channel motor basically only needs to move once to obtain the actual emission angle. Under the condition of ensuring the accuracy of the results, the time spent on calibration can be greatly shortened.

[0081] like Figure 4 As shown, the laser radar calibration method provided in this embodiment mainly includes the following steps:

[0082] Step S01, rotating the laser radar so that the light spot emitted by the nth transmitter of the laser radar is irradiated from the original position to the detection area of ​​the calibration plate, and recording the rotation data generated by the laser radar rotating the nth transmitter, wherein n is a positive integer;

[0083] It should be noted that the laser radar is rotated as a whole during the calibration process. However, during the overall rotation of the radar, the laser transmitting and receiving modules in the radar will rotate under the action of inertia, which may affect the calibration. Since the laser radar is calibrated after the laser radar is assembled and shipped out of the factory in this embodiment, the outer shell of the laser radar cannot be disassembled generally (that is, the inertia of the transmitting and receiving modules cannot be controlled by manual tools);

[0084] Therefore, before executing the step S01 of rotating the laser radar in the laser radar calibration method of this embodiment, the computer device will send a control signal to the laser radar, and the control signal is used to limit the laser transmitting and receiving module or the driving shaft of the scanning motor during the rotation of the laser radar. In a specific implementation, this embodiment can lock and release the laser transmitting and receiving module or the driving shaft of the scanning motor by setting a limit structure, or send a locking signal to the motor through a hardware circuit to prevent the driving shaft of the scanning motor from rotating under the drive of inertia.

[0085] Furthermore, the rotation data may be a rotation angle and / or pitch angle generated by a motor rotating a transmitter. In this embodiment, a calibration instruction is sent to the laser radar through a motion control program of a computer device to control the motor of the laser radar to rotate a single-channel transmitter. When the light spot emitted by the transmitter of a single channel is irradiated to the detection area of ​​the calibration plate, the motor stops rotating, so that the light spot emitted by the transmitter is irradiated to the detection area of ​​the calibration plate. Since the detection area is a relatively large area, the computer device only needs to control the motor to rotate once to move the light spot emitted by the transmitter to the detection area of ​​the calibration plate. Figure 4The light spot detection area shown in the figure does not need to be moved multiple times by the motor to make the light spot of the transmitter fall into the detection area as in the conventional calibration method. Figure 2 Target point.

[0086] Step S02, determining the preset data parameters of the calibration plate;

[0087] In this embodiment, a checkerboard can be used as a calibration plate with a known fixed size in this embodiment, and the camera can collect two-dimensional image feature data in the calibration plate with a known fixed size;

[0088] The preset data parameters of the calibration plate include a preset distance between the calibration plate and the laser radar (for example, the laser radar and the chessboard are D meters apart), and two-dimensional image feature data of the calibration plate (for example, pixel coordinates of known grid feature points on the chessboard);

[0089] The two-dimensional image feature data of the chessboard is as follows: Figure 5 As shown in the figure, the intersection point Cp of the chessboard to the Y axis of the spatial coordinate system and the chessboard plane. Since the chessboard is D meters away from the laser radar, the spatial coordinates of the intersection point Cp are (0, D, 0). The intersection point is preset manually, and then the pixel coordinates of Cp in the chessboard (Xcpixel, Ycpixel) can be obtained. It is also known that the size of the cell of the chessboard is S meters. First, find the four grid corner points C1, C2, C3, and C4 of the grid where Cp is located, and then according to the proportional relationship between the pixel and the chessboard size, it can be calculated. The spatial coordinates of one of the grid corner points can be obtained. For example, the calculation process is: the pixel distance between C1 and C2 is PD1, the pixel distance between C2 and C4 is PD2, the pixel distance from Cp to the straight line with C1 and C2 as endpoints is PG1, and the pixel distance from Cp to the straight line with C2 and C4 as endpoints is PG2. The spatial coordinates of C2 can be determined as: (PG2 / PD1*S, D, PG1 / PD2*S). The spatial coordinates of other corner points can be calculated in the same way according to the size of the chessboard.

[0090] In a specific implementation, the computer device can collect the two-dimensional image feature data of the calibration plate through a camera, and the computer device can call an image processing program to analyze and process the image of the calibration plate, thereby determining the pixel coordinates corresponding to the two-dimensional image feature data of the calibration plate.

[0091] Step S03, obtaining the target light spot image coordinates of the light spot of the nth emitter irradiated on the detection area;

[0092] In a specific implementation, the computer device can collect the light spot image formed by the light beams emitted by each transmitter of the radar irradiating the detection area through a camera, and the computer device can call an image processing program to analyze and process the light spot image of the calibration plate, so as to determine the target light spot image coordinates of the light spot of the nth transmitter irradiating the detection area.

[0093] Step S04, based on the preset data parameters of the calibration plate, the target light spot image coordinates, and the rotation data, obtain the actual emission angle corresponding to the light spot emitted by the nth emitter when it is at the original position, wherein the actual emission angle calibrates the set emission angle of the nth emitter.

[0094] Preferably, in this embodiment, the step S04 further includes the following sub-steps:

[0095] Sub-step S041, calculating a target light beam vector corresponding to the target light spot image coordinates in a spatial coordinate system based on the preset distance and the two-dimensional image feature data;

[0096] In a specific implementation, the preset data parameters of the calibration plate also include the radar space coordinates of the laser radar in the space coordinate system; the target spot image coordinates and the two-dimensional image feature data are both pixel data in the two-dimensional image coordinate system of the calibration plate;

[0097] The step of calculating the target light beam vector corresponding to the target light spot image coordinates in the space coordinate system based on the preset distance and the two-dimensional image feature data includes:

[0098] Acquire a first mapping relationship between the two-dimensional image coordinate system and the space coordinate system based on the radar space coordinates, the preset distance and the two-dimensional image feature data;

[0099] Calculate the target light beam vector corresponding to the target light spot image coordinates in the space coordinate system according to the first mapping relationship;

[0100] like Figure 7 As shown, when the light spot stops in the detection area, the target light spot center CL is determined, and the pixel coordinates of the light spot center CL (i.e., the target light spot image coordinates) are recorded as CL;

[0101] The preset distance is: the chessboard distance laser radar is D meters;

[0102] The laser radar has a radar spatial coordinate of (0,0,0) in the spatial coordinate system. The intersection of the Y axis of the spatial coordinate system and the chessboard plane is Cp. Since the chessboard is D meters away from the laser radar, the spatial coordinate of the intersection Cp is (0,D,0);

[0103] The two-dimensional image feature data includes: four corner points Ca, Cb, Cc, Cd of the grid where CL is located;

[0104] In the process of running the image processing program on the computer device: first determine that the pixel distance from Ca to Cb is PD1, the pixel distance from Cb to Cd is PD2, the pixel distance from Cl to the straight line with Ca and Cb as endpoints is PG1, and the pixel distance from Cl to the straight line with Cb and Cd as endpoints is PG2, and then determine the spatial coordinates of Cb as (Xb, D, Zb), that is, based on the radar spatial coordinates (0, 0, 0), the preset distance D meters and the pixel data in the two-dimensional image coordinate system of the calibration plate collected by the camera, it is possible to determine the first mapping relationship between the two-dimensional image coordinate system and the spatial coordinate system (the coordinate conversion relationship between the two-dimensional image coordinate system and the spatial coordinate system), and then calculate the spatial coordinates corresponding to the target spot image coordinates CL as: (Xb-PG2 / PD1*S, D, Zb-PG1 / PD2*S), after determining the spatial coordinates corresponding to the target spot center CL, the vector corresponding to the coordinate is the target beam vector Vn corresponding to the beam corresponding to the target spot image in the spatial coordinate system;

[0105] Sub-step S042, acquiring, based on the rotation data and the target beam vector, an original beam vector corresponding to the light spot emitted by the nth emitter when the light spot is at the original position;

[0106] It is understandable that before executing step S01 (i.e. before the motor corresponding to the laser radar rotates a certain angle), the original beam vector corresponding to the light spot at the initial original position is Vo;

[0107] When the light spot emitted by each emitter moves to the detection area of ​​the calibration plate, the computer equipment can calculate the target beam vector Vn corresponding to the light spot at that moment, and Vn is obtained after Vo is rotated a certain angle by the motor corresponding to the laser radar. Therefore, in order to obtain Vo, it is necessary to move the target beam vector Vn in reverse according to the known rotation angle (rotation data), and then obtain the original beam vector Vo corresponding to the light spot emitted by a single emitter when it is in the original position.

[0108] Sub-step S043, determining, based on the original light beam vector, a real emission angle corresponding to the light spot emitted by the nth emitter at the original position.

[0109] Specifically, the coordinate system where the original beam vector Vo of each laser radar emitter is located is the spatial coordinate system. During the laser radar spot angle calibration process, the position of the beam model in the laser radar coordinate system is always unchanged, while the laser radar emitter is in motion, and the position of the beam model in the spatial coordinate system is changed. Therefore, it is necessary to convert the relevant data of the original beam vector of the emitter from the spatial coordinate system to the laser radar coordinate system, so as to determine the actual emission angle corresponding to the spot emitted by a single emitter at the original position;

[0110] In the technical solution of this embodiment, the computer device first calculates the original beam vector model Vo in the space coordinate system corresponding to the laser radar transmitter in the initial state, and then converts the beam vector model Vo to the laser radar coordinate system, so as to determine the real emission angle corresponding to the light spot emitted by the single transmitter in the initial state;

[0111] In a specific implementation, when a computer device runs a program, it can obtain a reference axis pre-configured in the program for each channel transmitter in the lidar coordinate system, and then let each channel transmitter rotate with the reference axis corresponding to the original beam vector model Vo. The angle generated after the rotation is the actual emission angle.

[0112] Step S05, transmitting the actual emission angle to the laser radar, so that the nth transmitter of the laser radar calculates the data detected by the laser radar according to the actual emission angle when working. In this way, the laser radar can transmit data according to the actual angle instead of the designed angle, thereby ensuring the accuracy of the data results detected by the laser radar.

[0113] The beneficial effect of the technical solution of this embodiment is that the actual emission angle corresponding to the light spot emitted by a single emitter at the original position is obtained based on the preset data parameters of the calibration plate, the target light spot image coordinates of the emitter, and the rotation data generated by the motor, so that the emission angle of the laser radar emitter can be calibrated more efficiently, and the actual performance of the laser radar can be restored after the laser radar is assembled and shipped from the factory, thereby improving the user experience. Moreover, compared with the existing conventional calibration method of moving the light spot to the target position, this embodiment can significantly reduce the number of motor movements, thereby greatly improving the calibration efficiency: in the conventional calibration scheme, multiple motor movement operations need to be performed on each channel emitter, while in this embodiment, each channel motor basically only needs to move once to obtain the actual emission angle. While ensuring the accuracy of the results, the time spent on calibration can be greatly shortened.

[0114] Further, in another embodiment, the rotation data includes horizontal rotation data and pitch data;

[0115] It is understandable that the laser radar has a pitch motor and a horizontal rotation motor, which can make the light beam emitted by the laser radar transmitter be directed to any place. This type of laser radar has stronger functionality. For a conventional calibration method of this type of laser radar, it is necessary to control the laser in single-point mode through the pitch motor and the horizontal rotation motor to move a single light spot to the same position of the calibration plate (10% reflection surface) ( Figure 2 The upper computer motion control program does not know how many times the motor needs to be moved during the movement process. Each time the upper computer controls the motor to move, it performs a calculation until the light spot is moved to the Figure 2 The calibration ends only when the target point is hit. Therefore, the motor needs to move repeatedly many times to find the target point. Taking the laser radar with 64 thread channels as an example, the whole calibration process needs to move the pitch motor and the horizontal rotation motor about 270 times, which takes about 5.5 minutes. The calibration efficiency is not high.

[0116] In this embodiment, for the above technical problem, when executing step S01, the laser radar in single-point mode is controlled by the pitch motor and the horizontal rotation motor, so that the light spot emitted by the single (nth) emitter is irradiated from the original position to the detection area of ​​the calibration plate, and the horizontal rotation data and pitch data generated by the laser radar rotating the nth emitter are recorded;

[0117] Accordingly, in executing step S042, the step of obtaining the original beam vector corresponding to the light spot emitted by the nth emitter at the original position based on the rotation data and the target beam vector may include two methods in this embodiment:

[0118] The first method is: performing a reverse horizontal rotation operation on the light beam corresponding to the target light beam vector according to the horizontal rotation data to obtain a transition light beam vector; performing a reverse pitch operation on the light beam corresponding to the transition light beam vector according to the pitch data to obtain an original light beam vector corresponding to the light spot emitted by the nth emitter at the original position;

[0119] It is understood that the target beam vector is the original beam vector It is obtained after the horizontal motor of the laser radar rotates by an angle α and the pitch motor pitches by an angle θ, so in order to obtain the original beam vector The target beam vector Rotate -α angle around the Z axis of the spatial coordinate system (horizontal motor rotation axis), and then pitch -θ angle around the X axis of the spatial coordinate system (pitch motor pitch axis), and you can get the vector The specific operation formula is as follows:

[0120]

[0121] in, To transform the target beam vector The transition beam vector after rotating -α around the Z axis of the spatial coordinate system, is the rotation axis vector (Z axis of the spatial coordinate system);

[0122]

[0123] in, To transform the transition beam vector The original beam vector obtained after pitching -θ around the X-axis of the spatial coordinate system is the rotation axis vector (X axis of the spatial coordinate system);

[0124] The second method: according to the pitch data, a pitch operation is performed in the reverse direction on the light beam corresponding to the target beam vector to obtain a transition beam vector; according to the horizontal rotation data, a horizontal rotation is performed in the reverse direction on the light beam corresponding to the transition beam vector to obtain the original beam vector corresponding to the light spot emitted by the nth emitter when it is at the original position. The specific rotation and pitch operation formula is consistent with the principle of the rotation and pitch operation formula involved in the first method mentioned above, and this embodiment will not be repeated here.

[0125] Correspondingly, after executing step S043, the actual emission angle includes the vertical angle of the light spot and the horizontal angle of the light spot. The vertical angle of the light spot is the angle between the light beam emitted by the nth emitter when it is in the original position and the horizontal plane of the spatial coordinate system. The horizontal angle of the light spot is the angle between the light beam emitted by the nth emitter when it is in the original position and the vertical plane of the spatial coordinate system.

[0126] The beneficial effect of the technical solution of this embodiment is that based on the preset data parameters of the calibration plate, the target light spot image coordinates of the transmitter, and the horizontal rotation data and pitch data generated by the motor, the vertical angle and horizontal angle of the light spot emitted by a single transmitter corresponding to the original position are obtained, so that the emission angle of the laser radar transmitter can be calibrated more efficiently to restore the true performance of the laser radar. Compared with conventional calibration schemes, the number of movements of the pitch motor and the horizontal rotation motor can be significantly reduced: while ensuring the accuracy of the results, the time spent on calibration can be greatly shortened.

[0127] Further, in yet another embodiment, if Figure 8 As shown, the sub-step S043 further includes:

[0128] Step S0431, obtaining a laser radar coordinate system having a second mapping relationship with the spatial coordinate system;

[0129] In a specific implementation, a reference beam established in the spatial coordinate system and pre-configured in a computer execution program may be obtained, and a laser radar coordinate system pre-configured in the program and already established and including the reference beam may be obtained;

[0130] Step S0432: based on the second mapping relationship, convert the original light beam vector into the laser radar coordinate system to obtain the actual emission angle corresponding to the light spot emitted by a single emitter at the original position.

[0131] In a specific implementation, firstly, the vector of the first light beam corresponding to the first emitter (n=1) of the laser radar is determined; then, the first light beam is rotated to the reference light beam to transform the vector of the first light beam into the laser radar coordinate system, and the real emission angle of the light spot emitted by the first emitter in the laser radar coordinate system is obtained;

[0132] Calculate the rotation information generated by the rotation of the first light beam to the reference light beam, rotate the vector of the n-1th light beam according to the rotation information to transform the vector of the n-1th light beam into the lidar coordinate system, and obtain the real emission angle of the light spot emitted by the n-1th transmitter in the lidar coordinate system.

[0133] It should be noted that in order to calculate the emission angle of the light spot according to the logic of vertical angle and horizontal angle in the laser radar coordinate system, refer to Fig. 9 In this embodiment, the vector of the light spot emitted by the first channel emitter can be calculated To the vector corresponding to Cp (Pre-established The corresponding beam is used as the reference beam) and rotation angle θr), the calculation formula is as follows:

[0134]

[0135] in, represents the vector of the first beam, represents the vector corresponding to the rotation axis, represents the vector corresponding to the reference beam,

[0136]

[0137] Wherein, θr represents the rotation angle generated by the first light beam rotating to the reference light beam.

[0138] Find the rotation axis After the rotation angle θr, the spot vectors emitted by each emitter of the laser radar are respectively It is a rotation transformation of the rotation axis by an angle of θr. Each spot vector finally obtained can be used to solve the angle. The vertical angle of the spot is the angle between the light beam emitted by the transmitter when it is in the original position and the XOY plane (horizontal plane) of the laser radar coordinate system. The horizontal angle of the spot is the angle between the light beam emitted by the transmitter when it is in the original position and the YOZ plane (vertical plane) of the laser radar coordinate system.

[0139] It is understandable that after obtaining the target beam model in the spatial coordinate system, it is necessary to convert the model into the laser radar coordinate system, and it is also necessary to set a reference beam, that is, to set a coordinate system, which is the laser radar coordinate system. When used as a sensor, the data information output by the laser radar is based on the laser radar coordinate system. This embodiment will be pre-set according to the requirements set at the beginning of the design of the laser radar. For example: the laser radar has 32 channels, and the unit vector of the vector of channel 16 in the laser radar coordinate system is specified to be (0,1,0). Then, the 16 channels in the measured beam model need to be rotated to the vector direction of (0,1,0) according to the vector rotation formula, and the rotation axis vector of this rotation process needs to be calculated. and the rotation angle θr, then the entire beam vector model is around After rotating θr, the relative position of the beam vector in the entire beam vector model remains unchanged, but the values ​​of x, y, and z in the vector of the spatial coordinate system change. This process is to convert the beam vector model to the specified position in the laser radar coordinate system, and finally solve the angle according to the relative angle solution method of the laser radar coordinate system;

[0140] The technical solution of this embodiment can calibrate the emission angle of the laser radar reflector more efficiently and restore the true performance of the laser radar; in addition, this embodiment can also make the angle between each emitter of the laser radar closer to the real value. For example, the horizontal angle between the two emitted light spots of the adjacent laser radar emitters No. 1 and No. 2 is 10 degrees, but the actual angle between the two emitters during the assembly process is 10.5 degrees. This embodiment can obtain the real angle of 10 degrees of the emitted light spots between adjacent emitters, and provide the real angle data of 10 degrees to the laser radar, so that the two adjacent emitters of the laser radar emit lasers according to the real relative emission angle when working, further ensuring the radar detection accuracy.

[0141] In one embodiment, if Fig.10 As shown, the present invention also provides a laser radar calibration device, comprising:

[0142] The rotation module 10 is used to rotate the laser radar so that the light spot emitted by the nth transmitter of the laser radar is irradiated from the original position to the detection area of ​​the calibration plate, and record the rotation data generated by the laser radar rotating the nth transmitter, wherein n is a positive integer;

[0143] A determination module 20, used to determine the preset data parameters of the calibration plate;

[0144] An acquisition module 30 is used to acquire the target light spot image coordinates of the light spot of the nth emitter irradiated on the detection area;

[0145] The calculation module 40 is used to obtain the actual emission angle corresponding to the light spot emitted by the nth emitter at the original position based on the preset data parameters of the calibration plate, the target light spot image coordinates, and the rotation data, wherein the actual emission angle is used to calibrate the set emission angle of the nth emitter.

[0146] It should be noted that the above-mentioned device can be understood as a chip in the computer device; the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0147] In addition, an embodiment of the present application further provides a storage medium, which is a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0148] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0149] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0150] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0151] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0152] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0153] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A laser radar calibration method, characterized in that: include: Rotate the laser radar so that the light spot emitted by the nth emitter of the laser radar is irradiated from the original position to the detection area of ​​the calibration plate, and record the rotation data generated by the laser radar rotating the nth emitter, where n is a positive integer; Determining preset data parameters of the calibration plate; Obtaining the target light spot image coordinates of the light spot of the nth emitter irradiated on the detection area; Based on the preset data parameters of the calibration plate, the target light spot image coordinates, and the rotation data, the real emission angle corresponding to the light spot emitted by the nth emitter at the original position is obtained, The actual emission angle is used to calibrate the set emission angle of the nth emitter.

2. The method according to claim 1, characterized in that The preset data parameters of the calibration plate include a preset distance between the calibration plate and the laser radar, and two-dimensional image feature data of the calibration plate; The method of obtaining the real emission angle corresponding to the light spot emitted by the nth emitter at the original position based on the preset data parameters of the calibration plate, the target light spot image coordinates, and the rotation data includes: Based on the preset distance and the two-dimensional image feature data, calculating the target light beam vector corresponding to the target light spot image coordinates in the spatial coordinate system; Acquire, based on the rotation data and the target beam vector, an original beam vector corresponding to the light spot emitted by the nth emitter at the original position; The actual emission angle corresponding to the light spot emitted by the nth emitter at the original position is determined based on the original light beam vector.

3. The method according to claim 2, characterized in that The preset data parameters of the calibration plate also include the radar space coordinates of the laser radar in the space coordinate system; the target spot image coordinates and the two-dimensional image feature data are both pixel data in the two-dimensional image coordinate system of the calibration plate; The step of calculating the target light beam vector corresponding to the target light spot image coordinates in the space coordinate system based on the preset distance and the two-dimensional image feature data includes: Acquire a first mapping relationship between the two-dimensional image coordinate system and the space coordinate system based on the radar space coordinates, the preset distance and the two-dimensional image feature data; Calculate the target light beam vector corresponding to the target light spot image coordinates in the space coordinate system according to the first mapping relationship; The obtaining, based on the rotation data and the target beam vector, an original beam vector corresponding to the light spot emitted by the nth emitter at the original position comprises: The target light beam vector is moved in reverse according to the rotation data to obtain the original light beam vector corresponding to the light spot emitted by the nth emitter at the original position.

4. The method according to claim 3, characterized in that The rotation data includes horizontal rotation data and pitch data; The step of reversely moving the target light beam vector according to the rotation data to obtain the original light beam vector corresponding to the light spot emitted by the nth emitter at the original position includes: According to the horizontal rotation data, the light beam corresponding to the target light beam vector is horizontally rotated in the opposite direction to obtain a transition light beam vector; Perform a reverse pitch operation on the light beam corresponding to the transition light beam vector according to the pitch data to obtain an original light beam vector corresponding to the light spot emitted by the nth emitter at the original position; or Perform a reverse pitch operation on the light beam corresponding to the target light beam vector according to the pitch data to obtain a transition light beam vector; The light beam corresponding to the transition light beam vector is horizontally rotated in the opposite direction according to the horizontal rotation data to obtain the original light beam vector corresponding to the light spot emitted by the nth emitter at the original position.

5. The method according to claim 2, characterized in that The determining, based on the original light beam vector, a real emission angle corresponding to the light spot emitted by the nth emitter at the original position includes: Acquire a laser radar coordinate system having a second mapping relationship with the spatial coordinate system; The original light beam vector is converted into the laser radar coordinate system based on the second mapping relationship to obtain a real emission angle corresponding to the spot of the laser beam emitted by a single emitter at the original position; Among them, the actual emission angle includes the vertical angle of the light spot and the horizontal angle of the light spot. The vertical angle of the light spot is the angle between the laser light beam emitted by the nth emitter when it is in the original position and the horizontal plane of the laser radar coordinate system. The horizontal angle of the light spot is the angle between the laser light beam emitted by the nth emitter when it is in the original position and the vertical plane of the laser radar coordinate system.

6. The method according to claim 5, characterized in that The acquiring of the laser radar coordinate system having a second mapping relationship with the spatial coordinate system includes: Acquire a reference beam established in the spatial coordinate system and a laser radar coordinate system including the reference beam; The converting the original light beam vector into the laser radar coordinate system based on the second mapping relationship to obtain a real emission angle corresponding to the spot of the laser beam emitted by a single emitter at the original position includes: Determine the vector of the first light beam corresponding to the first transmitter of the laser radar, and the vector of the n-1th light beam corresponding to the n-1th transmitter other than the first transmitter; Rotating the first light beam to the reference light beam to transform the vector of the first light beam to the laser radar coordinate system, and obtaining a real emission angle of the light spot emitted by the first emitter in the laser radar coordinate system; Calculate the rotation information generated by the rotation of the first light beam to the reference light beam, rotate the vector of the n-1th light beam according to the rotation information to transform the vector of the n-1th light beam into the lidar coordinate system, and obtain the real emission angle of the light spot emitted by the n-1th transmitter in the lidar coordinate system.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: The actual emission angle is transmitted to the laser radar, so that the nth transmitter of the laser radar calculates the data detected by the laser radar according to the actual emission angle when working.

8. A laser radar calibration device, characterized in that: include: A rotation module, used to rotate the laser radar so that the light spot emitted by the nth emitter of the laser radar is irradiated from the original position to the detection area of ​​the calibration plate, and record the rotation data generated by the laser radar rotating the nth emitter, wherein n is a positive integer; A determination module, used to determine the preset data parameters of the calibration plate; An acquisition module, used for acquiring the target light spot image coordinates of the light spot of the nth emitter irradiated on the detection area; A calculation module is used to obtain the actual emission angle corresponding to the light spot emitted by the nth emitter at the original position based on the preset data parameters of the calibration plate, the target light spot image coordinates, and the rotation data, wherein the actual emission angle is used to calibrate the set emission angle of the nth emitter.

9. A computer device, characterized in that: The computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, the steps of the laser radar calibration method according to any one of claims 1 to 7 are implemented.

10. A storage medium, wherein the storage medium is a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein: When the computer program is executed by a processor, the steps of the laser radar calibration method as described in any one of claims 1 to 7 are implemented.

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