Automatic calibration method and device of laser radar, storage medium and electronic equipment

Abstract

The invention relates to an automatic calibration method and device for a laser radar, a storage medium and electronic equipment, and relates to the technical field of intelligent traffic, and the method comprises the steps: obtaining a target vehicle code of a target vehicle corresponding to a to-be-calibrated laser radar in response to a received laser radar calibration instruction; loading a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle based on the target vehicle code; acquiring radar dynamic calibration data based on the target dynamic calibration data acquisition path, and acquiring radar static calibration data based on the target static calibration data acquisition path; and determining a relative position relationship between the to-be-calibrated laser radar and the target vehicle based on the radar dynamic calibration data and the radar static calibration data, and realizing automatic calibration of the to-be-calibrated laser radar based on the relative position relationship. The calibration efficiency of the laser radar is improved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of intelligent transportation technology, and more specifically, to an automatic calibration method for a laser radar, an automatic calibration device for a laser radar, a computer-readable storage medium, and an electronic device. Background Art

[0002] The existing radar calibration method is implemented manually, but this method has the problems of low calibration efficiency and low accuracy of calibration results.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The purpose of the present disclosure is to provide an automatic calibration method for a laser radar, an automatic calibration device for a laser radar, a computer-readable storage medium and an electronic device, so as to at least overcome to a certain extent the problems of low calibration efficiency and low accuracy of calibration results caused by the limitations and defects of related technologies.

[0005] According to one aspect of the present disclosure, there is provided a method for automatic calibration of a laser radar, comprising:

[0006] In response to the received laser radar calibration instruction, obtaining a target vehicle code of a target vehicle corresponding to the laser radar to be calibrated;

[0007] Based on the target vehicle code, loading a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle;

[0008] Collecting radar dynamic calibration data based on the target dynamic calibration data collection path, and collecting radar static calibration data based on the target static calibration data collection path;

[0009] Based on the radar dynamic calibration data and the radar static calibration data, the relative position relationship between the laser radar to be calibrated and the target vehicle is determined, and automatic calibration of the laser radar to be calibrated is achieved based on the relative position relationship.

[0010] In an exemplary embodiment of the present disclosure, based on the target vehicle code, loading a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle includes:

[0011] Establishing a first mapping relationship between an original vehicle code and an original parking space code, and matching a target parking space code corresponding to the target vehicle code from the original parking space code based on the first mapping relationship and the target vehicle code;

[0012] Establishing a second mapping relationship between the original parking space code and the original dynamic calibration data acquisition path and the original static calibration data acquisition path;

[0013] Based on the second mapping relationship and the target parking space code, a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle are loaded from an original dynamic calibration data acquisition path and an original static calibration data acquisition path.

[0014] In an exemplary embodiment of the present disclosure, the original dynamic calibration data acquisition path and the original static calibration data acquisition path are generated in the following manner:

[0015] Configuring original vehicle parking spaces and original parking space codes corresponding to the original vehicle parking spaces in the current mining area map, and configuring dynamic calibration data collection points and static calibration data collection points in the current mining area map;

[0016] Based on the original vehicle parking space and the dynamic calibration data collection points, an original dynamic calibration data collection path is constructed, and based on the dynamic calibration data collection points and the static calibration data collection points, an original static calibration data collection path is constructed.

[0017] In an exemplary embodiment of the present disclosure, the dynamic calibration data collection points include a dynamic calibration data starting point and a dynamic calibration data ending point;

[0018] Wherein, based on the original vehicle parking space and the dynamic calibration data collection point, constructing the original dynamic calibration data collection path includes:

[0019] Determine a first parking space coordinate position of the original vehicle parking space, a first starting coordinate position of a dynamic calibration data starting point, and a first ending coordinate position of an ending point of the dynamic calibration data;

[0020] Determine a first dynamic driving path from the first parking space coordinate position to the first starting coordinate position, and a second dynamic driving path from the first starting coordinate position to the first ending coordinate position;

[0021] An original dynamic calibration data acquisition path is obtained according to the first dynamic driving path and the second dynamic driving path.

[0022] In an exemplary embodiment of the present disclosure, collecting radar dynamic calibration data based on the target dynamic calibration data collection path, and collecting radar static calibration data based on the target static calibration data collection path, includes:

[0023] Controlling the target vehicle to travel from the target parking space corresponding to the target parking space code to the dynamic calibration data starting point in the dynamic calibration data collection points based on the target dynamic calibration data collection path, and to travel from the dynamic calibration data starting point to the dynamic calibration data ending point, so as to collect radar dynamic calibration data of the target vehicle in the process of traveling from the dynamic calibration data starting point to the dynamic calibration data ending point;

[0024] The target vehicle is controlled to travel from the dynamic calibration data termination point to the static calibration data collection point in the target static calibration data collection path, and radar static calibration data is collected at the static calibration data point.

[0025] In an exemplary embodiment of the present disclosure, the laser radar to be calibrated includes a reference laser radar and other laser radars;

[0026] The reference laser radar includes a first laser radar arranged at the left side of the front of the target vehicle; the other laser radars include at least one of a second laser radar arranged at the middle of the front of the target vehicle, a third laser radar arranged at the right side of the front of the target vehicle, and a fourth laser radar arranged at the middle of the parking space of the target vehicle;

[0027] Wherein, based on the radar dynamic calibration data and the radar static calibration data, determining the relative position relationship between the laser radar to be calibrated and the target vehicle includes:

[0028] Determining a first relative position relationship between the reference laser radar and the target vehicle based on the radar dynamic calibration data;

[0029] Determining a second relative position relationship between the reference laser radar and other laser radars based on the radar static calibration data;

[0030] According to the first relative position relationship and the second relative position relationship, a third relative position relationship between the target vehicle and other laser radars is determined.

[0031] In an exemplary embodiment of the present disclosure, the radar dynamic calibration data includes first point cloud data corresponding to a reference laser radar and real-time position data corresponding to a target vehicle;

[0032] Wherein, determining a first relative position relationship between the reference laser radar and the target vehicle based on the radar dynamic calibration data includes:

[0033] Performing coordinate transformation on the first point cloud data based on a preset rotation matrix and a preset translation matrix to obtain a first radar coordinate position of the reference laser radar in a global coordinate system;

[0034] According to the real-time position data, a first vehicle coordinate position of the target vehicle in the global coordinate system is determined, and according to the first radar coordinate position and the first vehicle coordinate position, a first relative position relationship between the reference laser radar and the target vehicle is determined.

[0035] According to one aspect of the present disclosure, there is provided an automatic calibration device for a laser radar, comprising:

[0036] A vehicle code acquisition module, used to obtain a target vehicle code of a target vehicle corresponding to the laser radar to be calibrated in response to a received laser radar calibration instruction;

[0037] A data acquisition path determination module, used for loading a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle based on the target vehicle code;

[0038] A calibration data acquisition module, used to acquire radar dynamic calibration data based on a target dynamic calibration data acquisition path, and to acquire radar static calibration data based on the target static calibration data acquisition path;

[0039] The radar automatic calibration module is used to determine the relative position relationship between the laser radar to be calibrated and the target vehicle based on the radar dynamic calibration data and the radar static calibration data, and to realize automatic calibration of the laser radar to be calibrated based on the relative position relationship.

[0040] According to one aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the automatic calibration method of the laser radar described in any one of the above items is implemented.

[0041] According to one aspect of the present disclosure, there is provided an electronic device, including:

[0042] Processor; and

[0043] A memory, configured to store executable instructions of the processor;

[0044] Wherein, the processor is configured to execute any one of the above-mentioned automatic calibration methods of the laser radar by executing the executable instructions.

[0045] An automatic calibration method for a laser radar is provided in an embodiment of the present disclosure. On the one hand, by responding to a received laser radar calibration instruction, a target vehicle code of a target vehicle corresponding to a laser radar to be calibrated is obtained; then, based on the target vehicle code, a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle are loaded; then, based on the target dynamic calibration data acquisition path, radar dynamic calibration data is acquired, and based on the target static calibration data acquisition path, radar static calibration data is acquired; finally, based on the radar dynamic calibration data and the radar static calibration data, the relative position relationship between the laser radar to be calibrated and the target vehicle is determined, and automatic calibration of the laser radar to be calibrated is realized based on the relative position relationship, thereby realizing automatic calibration of the laser radar and solving the problem of low calibration efficiency caused by manual radar calibration in the prior art; on the other hand, the problem of low accuracy of calibration results caused by manual radar calibration in the prior art is also solved.

[0046] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0048] Figure 1 A flowchart of an automatic calibration method for a laser radar according to an example embodiment of the present disclosure is schematically shown.

[0049] Figure 2 A schematic diagram shows an example scene of an original parking space involved according to an example embodiment of the present disclosure.

[0050] Figure 3 An example diagram of a scene of a laser radar to be calibrated included in a target vehicle according to an example embodiment of the present disclosure is schematically shown.

[0051] Figure 4 A specific scenario example diagram of a first dynamic driving path from a first parking space coordinate position to a first starting coordinate position according to an example embodiment of the present disclosure is schematically shown.

[0052] Figure 5 A specific scenario example diagram of a second dynamic driving path from a first starting coordinate position to a first ending coordinate position according to an example embodiment of the present disclosure is schematically shown.

[0053] Figure 6 A specific scenario example diagram of a first static driving path from a first terminal coordinate position to a second coordinate position according to an example embodiment of the present disclosure is schematically shown.

[0054] Figure 7 A specific scenario example diagram of a second static driving path from a second coordinate position to a first parking space coordinate position according to an example embodiment of the present disclosure is schematically shown.

[0055] Figure 8 A flowchart of another automatic calibration method of a laser radar according to an example embodiment of the present disclosure is schematically shown.

[0056] Fig. 9 A block diagram of an automatic calibration device for a laser radar according to an example embodiment of the present disclosure is schematically shown.

[0057] Fig.10 An electronic device for implementing an automatic calibration method of a laser radar according to an example embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0058] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, the known technical solutions are not shown or described in detail to avoid obscuring the various aspects of the present disclosure.

[0059] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0060] LiDAR is an environmental sensing device widely used in unmanned vehicles in mining transportation scenarios. In actual application, in order to ensure the safety of unmanned vehicles during mineral transportation, it is necessary to accurately calibrate the external parameters of the LiDAR and LiDAR, and the LiDAR and vehicle coordinate system, so as to accurately detect the relative position relationship between the vehicle body and external targets. Based on this, how to efficiently and accurately calibrate the relative position between LiDAR and LiDAR, and the relative position between LiDAR and vehicle body has become an urgent problem to be solved.

[0061] In order to solve the above problems, the most widely used laser radar external parameter calibration process is: first, select the calibration site; second, record the calibration data based on the calibration site; then, determine the calibration external parameters based on the calibration data; finally, verify the calibration results and deploy the external parameters. However, the calibration based on this method has the following defects: on the one hand, the entire calibration process has a high degree of human participation, especially recording the calibration data, which is the most troublesome and tedious part of the entire process, requiring the driver and technician to cooperate tacitly to complete, which makes the calibration efficiency low; on the other hand, in the mine unmanned transportation system, when the number of vehicle groups reaches dozens or even hundreds, the laser radar calibration work requires a lot of manpower and time to complete, which seriously reduces production efficiency.

[0062] Based on this, this exemplary embodiment first provides an automatic calibration method for a laser radar, which can be run on a vehicle-mounted device, etc. Of course, those skilled in the art can also run the method disclosed in this disclosure on other platforms as required, and this exemplary embodiment does not specifically limit this. Figure 1 As shown, the automatic calibration method of the laser radar may include the following steps:

[0063] Step S110. In response to the received laser radar calibration instruction, obtaining a target vehicle code of a target vehicle corresponding to the laser radar to be calibrated;

[0064] Step S120. Based on the target vehicle code, load the target dynamic calibration data acquisition path and the target static calibration data acquisition path associated with the target vehicle;

[0065] Step S130. Collecting radar dynamic calibration data based on the target dynamic calibration data collection path, and collecting radar static calibration data based on the target static calibration data collection path;

[0066] Step S140. Based on the radar dynamic calibration data and the radar static calibration data, determine the relative position relationship between the laser radar to be calibrated and the target vehicle, and realize automatic calibration of the laser radar to be calibrated based on the relative position relationship.

[0067] In the automatic calibration method of the laser radar recorded above, on the one hand, by responding to the received laser radar calibration instruction, the target vehicle code of the target vehicle corresponding to the laser radar to be calibrated is obtained; then, based on the target vehicle code, the target dynamic calibration data acquisition path and the target static calibration data acquisition path associated with the target vehicle are loaded; then, based on the target dynamic calibration data acquisition path, the radar dynamic calibration data is collected, and based on the target static calibration data acquisition path, the radar static calibration data is collected; finally, based on the radar dynamic calibration data and the radar static calibration data, the relative position relationship between the laser radar to be calibrated and the target vehicle is determined, and based on the relative position relationship, the automatic calibration of the laser radar to be calibrated is realized, thereby realizing the automatic calibration of the laser radar, solving the problem of low calibration efficiency caused by manual radar calibration in the prior art; on the other hand, it also solves the problem of low accuracy of calibration results caused by manual radar calibration in the prior art.

[0068] Hereinafter, the automatic calibration method of the laser radar described in the exemplary embodiment of the present disclosure will be explained and illustrated in detail with reference to the accompanying drawings.

[0069] First, the technical implementation principle of the exemplary embodiment of the present disclosure is explained and illustrated. Specifically, the automatic calibration of the laser radar recorded in the exemplary embodiment of the present disclosure can be achieved by calculating the relative position relationship between each laser radar to be calibrated and the vehicle body coordinate system. In the process of actual application, first, a certain number of parking spaces are planned in the parking area for parking all the marshaled vehicles; then, the driving path from all parking spaces to the recording starting point of the dynamic calibration data is planned, which is used for the vehicle to track to the recording starting point of the dynamic calibration data; the driving path from the recording end position of the vehicle dynamic calibration data to the recording position of the static calibration data is planned, which is used for the vehicle to track to the position where the static calibration data is recorded; the driving path from the recording position of the vehicle static calibration data to the parking space corresponding to the current vehicle is planned, which is used for the vehicle to track to its parking space and recover the vehicle to the parking space; in the process of actual application, the roadside system can calculate the corresponding relationship between all unmanned transport vehicles and parking spaces based on the positioning and navigation data of the vehicle and the location information of the parking space. Furthermore, after the remote control device issues the laser radar calibration instruction, the roadside system will search for the corresponding parking space number (that is, the target parking space code) according to the issued vehicle number (that is, the target vehicle code), and send the laser radar calibration instruction to the corresponding target vehicle. After receiving the laser radar calibration instruction, the target vehicle loads the corresponding parking space number (that is, the target parking space code) corresponding to the recording dynamic data path (that is, the target dynamic calibration data acquisition path) and the recording static calibration data path (that is, the target dynamic calibration data acquisition path). After the path is loaded successfully, the calibration data can be recorded by tracking. Furthermore, after the laser radar calibration data recording is completed, the vehicle-side laser radar calibration program is started to complete the calibration verification and deployment of external parameters; finally, after the calibration is completed, the target vehicle uploads the laser radar calibration results and corresponding calibration data to the cloud server database for storage. Based on this, the automatic calibration of the laser radar can be achieved without human participation throughout the process, so that the entire calibration process is simple and efficient.

[0070] Secondly, the specific generation process of the original dynamic calibration data acquisition path and the original static calibration data acquisition path involved in the exemplary embodiment of the present disclosure is explained and illustrated. Specifically, the original dynamic calibration data acquisition path and the original static calibration data acquisition path can be realized in the following manner: configure the original vehicle parking space and the original parking space code corresponding to the original vehicle parking space in the current mining area map, and configure the dynamic calibration data acquisition point and the static calibration data acquisition point in the current mining area map; based on the original vehicle parking space and the dynamic calibration data acquisition point, construct the original dynamic calibration data acquisition path, and based on the dynamic calibration data acquisition point and the static calibration data acquisition point, construct the original static calibration data acquisition path. Among them, the dynamic calibration data acquisition points recorded here include the dynamic calibration data starting point and the dynamic calibration data ending point.

[0071] In an example embodiment, based on the original vehicle parking space and the dynamic calibration data collection points, constructing the original dynamic calibration data collection path can be achieved in the following manner: determining the first parking space coordinate position of the original vehicle parking space, the first starting coordinate position of the dynamic calibration data starting point, and the first ending coordinate position of the dynamic calibration data ending point; determining a first dynamic driving path from the first parking space coordinate position to the first starting coordinate position, and a second dynamic driving path from the first starting coordinate position to the first ending coordinate position; and obtaining the original dynamic calibration data collection path based on the first dynamic driving path and the second dynamic driving path.

[0072] In an example embodiment, constructing an original static calibration data acquisition path based on dynamic calibration data acquisition points and static calibration data acquisition points can be achieved in the following manner: determining the first terminal coordinate position of the dynamic calibration data terminal point, the second coordinate position of the static calibration data acquisition point, and the first parking space coordinate position of the original vehicle parking space; determining a first static driving path from the first terminal coordinate position to the second coordinate position and a second static driving path from the second coordinate position to the first parking space coordinate position, and obtaining the original static calibration data acquisition path based on the first static driving path and the second static driving path.

[0073] The following will further explain and illustrate the specific determination process of the original dynamic calibration data collection path and the original static calibration data collection path. Specifically, in the actual application process, multiple original vehicle parking spaces and corresponding lidar calibration data collection paths can be pre-defined in the parking area; after issuing a lidar calibration instruction for a vehicle with a certain number, the roadside unit searches for the corresponding parking space number according to the vehicle number in the calibration instruction, and dispatches the vehicle to perform the automatic calibration process; the parking area and original vehicle parking space recorded here refer to an area and location used to park vehicles before or after the unmanned vehicle starts running. For specific scene example diagrams, please refer to Figure 2 As shown; in the actual application process, the latitude and longitude coordinate information of the four vertices of all original vehicle parking spaces can be obtained in advance, and the numbers and coordinate information of all parking spaces can be pre-stored in the roadside computing unit; at the same time, the original dynamic calibration data acquisition path and the original static calibration data acquisition path recorded above are a collection of a series of positioning and navigation information pre-planned for recording dynamic and static calibration data from the parking space and returning to the parking space, and each original vehicle parking space corresponds to a calibration data acquisition path; further, the unmanned transport vehicle loads the laser radar calibration data acquisition path corresponding to the corresponding vehicle parking space to achieve tracking driving; and the calibration data acquisition paths corresponding to all parking spaces are stored in the computing unit of each unmanned mining truck.

[0074] The following explains and illustrates the laser radar to be calibrated involved in the example embodiments of the present disclosure. Specifically, the laser radar to be calibrated involved in the example embodiments of the present disclosure may include a reference laser radar and other laser radars; wherein the reference laser radar recorded here may include a first laser radar set at the left side of the front of the target vehicle; other laser radars may include a second laser radar set at the middle of the front of the target vehicle, a third laser radar set at the right side of the front of the target vehicle, and a fourth laser radar set at the middle of the parking space of the target vehicle, etc.; wherein the specific position of each laser radar to be calibrated in the target vehicle can be referred to. Figure 3 At the same time, it should be further explained that the reference laser radar may be other laser radars besides the first laser radar disposed at the left side of the front of the target vehicle. The first laser radar at the left side is selected in this example embodiment only for exemplary purposes and there is no other limitation.

[0075] In an exemplary embodiment, the specific scenario example diagram of the first dynamic driving path from the first parking space coordinate position to the first starting coordinate position described above can be referred to as Figure 4As shown; the specific scene example diagram of the second dynamic driving path from the first starting coordinate position to the first ending coordinate position recorded above can be referred to Figure 5 As shown; the specific scenario example diagram of the first static driving path from the first terminal coordinate position to the second coordinate position recorded above can be referred to Figure 6 As shown; the specific scenario example diagram of the second static driving path from the second coordinate position to the first parking space coordinate position can be referred to Figure 7 shown.

[0076] The following will be combined Figure 2 as well as Figure 7 right Figure 1 The automatic calibration method of the laser radar shown in the figure is further explained and illustrated. Specifically:

[0077] In step S110, in response to the received laser radar calibration instruction, a target vehicle code of the target vehicle corresponding to the laser radar to be calibrated is obtained.

[0078] Specifically, in the actual application process, when it is necessary to self-calibrate the laser radar to be calibrated, the laser radar calibration instruction can be sent to the roadside computing system through 4G or 5G remote network equipment or through short-range wireless communication equipment (such as infrared remote control, Bluetooth, etc.); when the roadside computing system receives the laser radar calibration instruction, it can determine the target vehicle corresponding to the laser radar to be calibrated according to the target vehicle code included in the laser radar calibration instruction, and send the laser radar calibration instruction to the target vehicle; when the target vehicle receives the laser radar calibration instruction, it can respond to the received laser radar calibration instruction and determine the target vehicle code of the vehicle itself.

[0079] In step S120, based on the target vehicle code, a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle are loaded.

[0080] Specifically, the loading process of the target dynamic calibration data acquisition path and the target static calibration data acquisition path can be realized in the following manner: establish a first mapping relationship between the original vehicle code and the original parking space code, and match the target parking space code corresponding to the target vehicle code from the original parking space code based on the first mapping relationship and the target vehicle code; establish a second mapping relationship between the original parking space code and the original dynamic calibration data acquisition path and the original static calibration data acquisition path; based on the second mapping relationship and the target parking space code, load the target dynamic calibration data acquisition path and the target static calibration data acquisition path associated with the target vehicle from the original dynamic calibration data acquisition path and the original static calibration data acquisition path. Specifically, in the actual application process, when the unmanned transport vehicle is recovered to the original parking space each time, the original vehicle code and the original parking space code of the unmanned transport vehicle can be bound to obtain the first mapping relationship; then, it is also necessary to establish a second mapping relationship between the original parking space code and the original dynamic calibration data acquisition path and the original static calibration data acquisition path; finally, based on the corresponding mapping relationship, it can be loaded into the target dynamic calibration data acquisition path and the target static calibration data acquisition path.

[0081] In step S130, radar dynamic calibration data is collected based on the target dynamic calibration data collection path, and radar static calibration data is collected based on the target static calibration data collection path.

[0082] Specifically, it can be achieved in the following ways: controlling the target vehicle to travel from the target parking space corresponding to the target parking space code to the dynamic calibration data starting point in the dynamic calibration data collection points based on the target dynamic calibration data collection path, and traveling from the dynamic calibration data starting point to the dynamic calibration data ending point, so as to collect the radar dynamic calibration data of the target vehicle in the process of traveling from the dynamic calibration data starting point to the dynamic calibration data ending point; controlling the target vehicle to travel from the dynamic calibration data ending point to the static calibration data collection point in the target static calibration data collection path, and collecting radar static calibration data at the static calibration data point.

[0083] In an example embodiment, the radar dynamic calibration data recorded above refers to the first point cloud data of the reference laser radar when it is traveling along a pre-planned path (that is, the second dynamic driving path) and the real-time positioning data of the target vehicle after the target vehicle reaches the dynamic data recording starting position point (that is, the dynamic calibration data starting point). The reference laser radar recorded here is the left laser radar; the dynamic data recording starting position point recorded here can be obtained in advance and the longitude and latitude coordinate information of the four vertices of the parking space rectangle at that position can be stored in the vehicle-side computing unit to facilitate the positioning of the target vehicle.

[0084] In an example embodiment, the radar static calibration data recorded above refers to the point cloud data of the left laser, right laser radar, front laser radar and rear laser radar recorded after the vehicle reaches the static data recording position point (that is, the static calibration data collection point). In this embodiment, it is only necessary to record the static point cloud data in 5 seconds; at the same time, the static calibration data recording position point involved here can store the longitude and latitude coordinate information of the four vertices of the parking space rectangle at the position in the vehicle-side computing unit in a pre-acquired manner to facilitate the positioning of the target vehicle.

[0085] In step S140, the relative position relationship between the laser radar to be calibrated and the target vehicle is determined based on the radar dynamic calibration data and the radar static calibration data, and the automatic calibration of the laser radar to be calibrated is achieved based on the relative position relationship.

[0086] In an exemplary embodiment of the present disclosure, first, the relative position relationship between the laser radar to be calibrated and the target vehicle is determined; specifically, it can be achieved in the following ways: based on the dynamic calibration data of the radar, the first relative position relationship between the reference laser radar and the target vehicle is determined; based on the static calibration data of the radar, the second relative position relationship between the reference laser radar and other laser radars is determined; based on the first relative position relationship and the second relative position relationship, the third relative position relationship between the target vehicle and other laser radars is determined.

[0087] In an example embodiment, determining a first relative position relationship between the reference lidar and the target vehicle based on the radar dynamic calibration data can be achieved in the following manner: performing coordinate transformation on the first point cloud data based on a preset rotation matrix and a preset translation matrix to obtain a first radar coordinate position of the reference lidar in a global coordinate system; determining a first vehicle coordinate position of the target vehicle in a global coordinate system based on the real-time position data, and determining a first relative position relationship between the reference lidar and the target vehicle based on the first radar coordinate position and the first vehicle coordinate position.

[0088] In an example embodiment, based on the radar static calibration data, determining the second relative position relationship between the reference laser radar and the other laser radars can be achieved in the following manner: based on a preset rotation matrix and a preset translation matrix, coordinate transformation is performed on the second point cloud data corresponding to the reference laser radar in the static radar calibration data to obtain the second radar coordinate position of the reference laser radar in the global coordinate system; based on the preset rotation matrix and the preset translation matrix, coordinate transformation is performed on the third point cloud data corresponding to the other laser radars in the static radar calibration data to obtain the third radar coordinate position of the other laser radars in the global coordinate system; based on the second radar coordinate position and the third radar coordinate position, the second relative position relationship between the reference laser radar and the other laser radars is determined.

[0089] The following will further explain and illustrate the automatic calibration method of the laser radar involved in the exemplary embodiment of the present disclosure with reference to specific examples. Specifically, in the actual application process, when the roadside computing unit receives the laser radar calibration instruction of a certain vehicle number, it can dispatch the vehicle and execute the laser radar automatic calibration process; further, refer to Figure 8 As shown, the radar automatic calibration process may include the following steps:

[0090] Step S801: obtaining a laser radar calibration instruction, and obtaining a target vehicle code and a target parking space code of the vehicle itself based on the laser radar calibration instruction;

[0091] Step S802: Based on the target vehicle code and the target parking space code, the corresponding calibration data collection path is loaded from the memory, and tracking driving is started to collect dynamic and static calibration data; specifically, during the tracking driving process, first, the vehicle tracks to the starting point of dynamic data collection and starts the dynamic calibration data recording script; then, after the vehicle completes the tracking dynamic data recording path, it returns to the starting point, and the system immediately terminates the dynamic calibration data recording, thus completing the dynamic calibration data recording; then, the vehicle tracks to the starting point of static data collection and executes the static calibration data recording script; after the static calibration data recording is completed, the vehicle tracks the path back to the parking space;

[0092] Step S803: starting the laser radar calibration program to perform self-calibration based on the collected dynamic and static calibration data, and obtaining the laser radar calibration result and automatically verifying whether the result is successful;

[0093] Step S804: If the calibration is successful, the system automatically deploys the external parameters of the lidar to the vehicle-side autonomous driving program, and automatically uploads the calibration results to the cloud server for backup; if the calibration fails, the system automatically uploads the calibration data and calibration results to the cloud server, and the technicians analyze the reasons for the calibration failure, check all aspects of the calibration, and re-issue the calibration instructions.

[0094] At this point, the automatic calibration method of the laser radar recorded in the exemplary embodiment of the present disclosure has been fully implemented. Based on the above-mentioned contents, it can be known that the automatic calibration method of the laser radar recorded in the exemplary embodiment of the present disclosure can improve the accuracy of the calibration result on the basis of improving the calibration efficiency of the laser radar, thereby further improving the safety of the unmanned transport vehicle during the transportation process.

[0095] The following are embodiments of the device disclosed herein, which can be used to execute the method embodiments disclosed herein. For details not disclosed in the device embodiments disclosed herein, please refer to the method embodiments disclosed herein.

[0096] The exemplary embodiment of the present disclosure also provides an automatic calibration device for a laser radar. Fig. 9 As shown, the automatic calibration device of the laser radar may include a vehicle code acquisition module 910, a data acquisition path determination module 920, a calibration data acquisition module 930 and a radar automatic calibration module 940. Among them:

[0097] The vehicle code acquisition module 910 may be used to obtain a target vehicle code of a target vehicle corresponding to the laser radar to be calibrated in response to a received laser radar calibration instruction;

[0098] The data acquisition path determination module 920 may be used to load a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle based on the target vehicle code;

[0099] The calibration data acquisition module 930 may be used to acquire radar dynamic calibration data based on the target dynamic calibration data acquisition path, and to acquire radar static calibration data based on the target static calibration data acquisition path;

[0100] The radar automatic calibration module 940 can be used to determine the relative position relationship between the laser radar to be calibrated and the target vehicle based on the radar dynamic calibration data and the radar static calibration data, and realize automatic calibration of the laser radar to be calibrated based on the relative position relationship.

[0101] In an exemplary embodiment of the present disclosure, based on the target vehicle code, a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle are loaded, including: establishing a first mapping relationship between the original vehicle code and the original parking space code, and based on the first mapping relationship and the target vehicle code, matching the target parking space code corresponding to the target vehicle code from the original parking space code; establishing a second mapping relationship between the original parking space code and the original dynamic calibration data acquisition path and the original static calibration data acquisition path; based on the second mapping relationship and the target parking space code, loading the target dynamic calibration data acquisition path and the target static calibration data acquisition path associated with the target vehicle from the original dynamic calibration data acquisition path and the original static calibration data acquisition path.

[0102] In an exemplary embodiment of the present disclosure, the original dynamic calibration data acquisition path and the original static calibration data acquisition path are generated in the following manner: configuring the original vehicle parking spaces and the original parking space codes corresponding to the original vehicle parking spaces in the current mining area map, and configuring the dynamic calibration data acquisition points and the static calibration data acquisition points in the current mining area map; constructing the original dynamic calibration data acquisition path based on the original vehicle parking spaces and the dynamic calibration data acquisition points, and constructing the original static calibration data acquisition path based on the dynamic calibration data acquisition points and the static calibration data acquisition points.

[0103] In an exemplary embodiment of the present disclosure, the dynamic calibration data collection point includes a dynamic calibration data starting point and a dynamic calibration data ending point; wherein, based on the original vehicle parking space and the dynamic calibration data collection point, an original dynamic calibration data collection path is constructed, including: determining the first parking space coordinate position of the original vehicle parking space, the first starting coordinate position of the dynamic calibration data starting point, and the first ending coordinate position of the dynamic calibration data ending point; determining a first dynamic driving path from the first parking space coordinate position to the first starting coordinate position, and a second dynamic driving path from the first starting coordinate position to the first ending coordinate position; and obtaining the original dynamic calibration data collection path according to the first dynamic driving path and the second dynamic driving path.

[0104] In an exemplary embodiment of the present disclosure, radar dynamic calibration data is collected based on the target dynamic calibration data collection path, and radar static calibration data is collected based on the target static calibration data collection path, including: controlling the target vehicle to travel from the target parking space corresponding to the target parking space code to the dynamic calibration data starting point in the dynamic calibration data collection points based on the target dynamic calibration data collection path, and traveling from the dynamic calibration data starting point to the dynamic calibration data ending point, so as to collect radar dynamic calibration data of the target vehicle in the process of traveling from the dynamic calibration data starting point to the dynamic calibration data ending point; controlling the target vehicle to travel from the dynamic calibration data ending point to the static calibration data collection point in the target static calibration data collection path, and collecting radar static calibration data at the static calibration data point.

[0105] In an exemplary embodiment of the present disclosure, the laser radar to be calibrated includes a reference laser radar and other laser radars; the reference laser radar includes a first laser radar arranged at the left side of the front of the target vehicle; the other laser radars include at least one of a second laser radar arranged at the middle position of the front of the target vehicle, a third laser radar arranged at the right side of the front of the target vehicle, and a fourth laser radar arranged at the middle position of the parking space of the target vehicle; wherein, based on the radar dynamic calibration data and the radar static calibration data, the relative position relationship between the laser radar to be calibrated and the target vehicle is determined, including: determining the first relative position relationship between the reference laser radar and the target vehicle based on the radar dynamic calibration data; determining the second relative position relationship between the reference laser radar and the other laser radars based on the radar static calibration data; and determining the third relative position relationship between the target vehicle and the other laser radars based on the first relative position relationship and the second relative position relationship.

[0106] In an exemplary embodiment of the present disclosure, the radar dynamic calibration data includes first point cloud data corresponding to a reference laser radar and real-time position data corresponding to a target vehicle; wherein, based on the radar dynamic calibration data, a first relative position relationship between the reference laser radar and the target vehicle is determined, including: performing coordinate transformation on the first point cloud data based on a preset rotation matrix and a preset translation matrix to obtain a first radar coordinate position of the reference laser radar in a global coordinate system; determining a first vehicle coordinate position of the target vehicle in a global coordinate system according to the real-time position data, and determining a first relative position relationship between the reference laser radar and the target vehicle according to the first radar coordinate position and the first vehicle coordinate position.

[0107] The specific details of each module in the above-mentioned laser radar automatic calibration device have been described in detail in the corresponding laser radar automatic calibration method, so they will not be repeated here.

[0108] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0109] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0110] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided. A person skilled in the art will appreciate that various aspects of the present disclosure may be implemented as a system, method, or program product. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which may be collectively referred to herein as a circuit, module, or system.

[0111] Refer to the following Fig.10 The electronic device 1000 according to this embodiment of the present disclosure is described. Fig.10 The electronic device 1000 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0112] like Fig.10 As shown, the electronic device 1000 is in the form of a general computing device. The components of the electronic device 1000 may include, but are not limited to: the at least one processing unit 1010, the at least one storage unit 1020, a bus 1030 connecting different system components (including the storage unit 1020 and the processing unit 1010), and a display unit 1040.

[0113] The storage unit stores program codes, which can be executed by the processing unit 1010, so that the processing unit 1010 performs the steps according to various exemplary embodiments of the present disclosure described in the above “Exemplary Method” section of this specification. For example, the processing unit 1010 can perform the following steps: Figure 1 Step S110 shown in: in response to the received laser radar calibration instruction, obtaining the target vehicle code of the target vehicle corresponding to the laser radar to be calibrated; step S120: based on the target vehicle code, loading the target dynamic calibration data acquisition path and the target static calibration data acquisition path associated with the target vehicle; step S130: based on the target dynamic calibration data acquisition path, collecting radar dynamic calibration data, and based on the target static calibration data acquisition path, collecting radar static calibration data; step S140: based on the radar dynamic calibration data and the radar static calibration data, determining the relative position relationship between the laser radar to be calibrated and the target vehicle, and realizing automatic calibration of the laser radar to be calibrated based on the relative position relationship.

[0114] The storage unit 1020 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 10201 and / or a cache storage unit 10202 , and may further include a read-only storage unit (ROM) 10203 .

[0115] The storage unit 1020 may also include a program / utility 10204 having a set (at least one) of program modules 10205, such program modules 10205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0116] Bus 1030 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0117] The electronic device 1000 may also communicate with one or more external devices 1100 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 1000, and / or may communicate with any device that enables the electronic device 1000 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 1050. Furthermore, the electronic device 1000 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 1060. As shown, the network adapter 1060 communicates with other modules of the electronic device 1000 via a bus 1030. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 1000, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0118] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0119] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above "Exemplary Method" section of the present specification.

[0120] According to the program product for implementing the above method in the embodiment of the present disclosure, it can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0121] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0122] Computer readable signal media may include a data signal propagated in baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0123] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0124] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0125] Other embodiments of the present disclosure will be readily apparent to those skilled in the art after considering the specification and practicing the inventions invented herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not invented by the present disclosure. The specification and examples are to be considered merely exemplary, and the true scope and spirit of the present disclosure are indicated by the claims.

Claims

1. A laser radar automatic calibration method, characterized in that: include: In response to the received laser radar calibration instruction, obtaining a target vehicle code of a target vehicle corresponding to the laser radar to be calibrated; Based on the target vehicle code, loading a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle; Collecting radar dynamic calibration data based on the target dynamic calibration data collection path, and collecting radar static calibration data based on the target static calibration data collection path; Based on the radar dynamic calibration data and the radar static calibration data, the relative position relationship between the laser radar to be calibrated and the target vehicle is determined, and automatic calibration of the laser radar to be calibrated is achieved based on the relative position relationship.

2. The automatic calibration method of laser radar according to claim 1, characterized in that: Based on the target vehicle code, a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle are loaded, including: Establishing a first mapping relationship between an original vehicle code and an original parking space code, and matching a target parking space code corresponding to the target vehicle code from the original parking space code based on the first mapping relationship and the target vehicle code; Establishing a second mapping relationship between the original parking space code and the original dynamic calibration data acquisition path and the original static calibration data acquisition path; Based on the second mapping relationship and the target parking space code, a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle are loaded from an original dynamic calibration data acquisition path and an original static calibration data acquisition path.

3. The automatic calibration method of laser radar according to claim 2, characterized in that: The original dynamic calibration data acquisition path and the original static calibration data acquisition path are generated in the following manner: Configuring original vehicle parking spaces and original parking space codes corresponding to the original vehicle parking spaces in the current mining area map, and configuring dynamic calibration data collection points and static calibration data collection points in the current mining area map; Based on the original vehicle parking space and the dynamic calibration data collection points, an original dynamic calibration data collection path is constructed, and based on the dynamic calibration data collection points and the static calibration data collection points, an original static calibration data collection path is constructed.

4. The automatic calibration method of laser radar according to claim 3, characterized in that: The dynamic calibration data collection points include a dynamic calibration data starting point and a dynamic calibration data ending point; Wherein, based on the original vehicle parking space and the dynamic calibration data collection point, constructing the original dynamic calibration data collection path includes: Determine a first parking space coordinate position of the original vehicle parking space, a first starting coordinate position of a dynamic calibration data starting point, and a first ending coordinate position of an ending point of the dynamic calibration data; Determine a first dynamic driving path from the first parking space coordinate position to the first starting coordinate position, and a second dynamic driving path from the first starting coordinate position to the first ending coordinate position; An original dynamic calibration data acquisition path is obtained according to the first dynamic driving path and the second dynamic driving path.

5. The automatic calibration method of laser radar according to claim 1, characterized in that: Collecting radar dynamic calibration data based on the target dynamic calibration data collection path, and collecting radar static calibration data based on the target static calibration data collection path, including: Controlling the target vehicle to travel from the target parking space corresponding to the target parking space code to the dynamic calibration data starting point in the dynamic calibration data collection points based on the target dynamic calibration data collection path, and to travel from the dynamic calibration data starting point to the dynamic calibration data ending point, so as to collect radar dynamic calibration data of the target vehicle in the process of traveling from the dynamic calibration data starting point to the dynamic calibration data ending point; The target vehicle is controlled to travel from the dynamic calibration data termination point to the static calibration data collection point in the target static calibration data collection path, and radar static calibration data is collected at the static calibration data point.

6. The automatic calibration method of laser radar according to claim 1, characterized in that: The laser radar to be calibrated includes a reference laser radar and other laser radars; The reference laser radar includes a first laser radar arranged at the left side of the front of the target vehicle; the other laser radars include at least one of a second laser radar arranged at the middle of the front of the target vehicle, a third laser radar arranged at the right side of the front of the target vehicle, and a fourth laser radar arranged at the middle of the parking space of the target vehicle; Wherein, based on the radar dynamic calibration data and the radar static calibration data, determining the relative position relationship between the laser radar to be calibrated and the target vehicle includes: Determining a first relative position relationship between the reference laser radar and the target vehicle based on the radar dynamic calibration data; Determining a second relative position relationship between the reference laser radar and other laser radars based on the radar static calibration data; According to the first relative position relationship and the second relative position relationship, a third relative position relationship between the target vehicle and other laser radars is determined.

7. The automatic calibration method of laser radar according to claim 6, characterized in that: The radar dynamic calibration data includes first point cloud data corresponding to the reference laser radar and real-time position data corresponding to the target vehicle; Wherein, determining a first relative position relationship between the reference laser radar and the target vehicle based on the radar dynamic calibration data includes: Performing coordinate transformation on the first point cloud data based on a preset rotation matrix and a preset translation matrix to obtain a first radar coordinate position of the reference laser radar in a global coordinate system; According to the real-time position data, a first vehicle coordinate position of the target vehicle in the global coordinate system is determined, and according to the first radar coordinate position and the first vehicle coordinate position, a first relative position relationship between the reference laser radar and the target vehicle is determined.

8. An automatic calibration device for a laser radar, characterized in that: include: A vehicle code acquisition module, used to obtain a target vehicle code of a target vehicle corresponding to the laser radar to be calibrated in response to a received laser radar calibration instruction; A data acquisition path determination module, used for loading a target dynamic calibration data acquisition path and a target static calibration data acquisition path associated with the target vehicle based on the target vehicle code; A calibration data acquisition module, used to acquire radar dynamic calibration data based on a target dynamic calibration data acquisition path, and to acquire radar static calibration data based on the target static calibration data acquisition path; The radar automatic calibration module is used to determine the relative position relationship between the laser radar to be calibrated and the target vehicle based on the radar dynamic calibration data and the radar static calibration data, and to realize automatic calibration of the laser radar to be calibrated based on the relative position relationship.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the automatic calibration method of the laser radar described in any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; Wherein, the processor is configured to execute the automatic calibration method of the laser radar described in any one of claims 1-7 by executing the executable instructions.

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