Laser radar calibration method, electronic equipment and medium

Abstract

The invention discloses a laser radar calibration method, electronic equipment and a medium, and relates to the field of laser radar calibration. In the laser radar calibration device comprising a controller and a reflecting plate, a second position of a target point in a vehicle body coordinate system is determined according to the position of the target point in a laser radar coordinate system and current data (including position data and direction data), and then the position of the target point in the vehicle body coordinate system is calibrated according to the relation between the first position and the second position. The current data is adjusted according to the condition of the second position, and calibration of the laser radar is achieved; the internal and external parameters of the camera and the environment illumination condition do not need to be considered, the complexity of the calibration process is relatively reduced, the calibration efficiency of the laser radar is improved, and the calibration of the vehicle-mounted laser radar can be completed on a vehicle without the camera; moreover, the position condition of the target point on the reflector is analyzed, so that the position of the target point can be quickly and accurately identified according to the light intensity information, and the calibration efficiency is further improved.

Description

Technical Field

[0001] The present invention relates to the field of laser radar calibration, and in particular to a laser radar calibration method, electronic equipment and medium. Background Art

[0002] Autonomous driving is a technology that uses a variety of high-precision sensors and high-performance computing platforms to achieve automatic driving of vehicles. LiDAR plays a vital role in autonomous driving technology and is one of the most commonly used sensors in vehicles. It captures the location information and shape characteristics of obstacles in the environment and converts the data into point clouds for subsequent processing. In order to ensure that the point cloud data collected by the LiDAR can be accurately represented in the vehicle coordinate system, thereby supporting subsequent tasks such as positioning, target detection, data fusion and path planning. Accurate LiDAR calibration is essential for the navigation and positioning of autonomous vehicles. LiDAR calibration includes the process of estimating external parameters such as the position and orientation of the LiDAR relative to the vehicle coordinate system.

[0003] The checkerboard method is usually used in the related laser radar calibration methods to calibrate the external parameters of the laser radar. Using the checkerboard calibration plate, the laser radar and the camera jointly observe the calibration plate, and the internal and external parameters of the camera are combined to determine the position and posture of the laser radar relative to the vehicle coordinate system. In the process of calibrating the external parameters of the laser radar, the calibration process is relatively complicated because it is necessary to combine the parameters of the camera and consider the environment and lighting conditions. Calibration cannot be performed on vehicles without cameras.

[0004] It can be seen that how to simplify the laser radar calibration process and improve the efficiency of laser radar calibration is a technical problem that people in this field urgently need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide a laser radar calibration method, electronic device and medium to solve the technical problem that when the checkerboard method is used to calibrate the external parameters of the laser radar, the calibration process is relatively complicated due to the need to combine the internal and external parameters of the camera and consider the environment and lighting conditions, and the calibration cannot be performed on a vehicle without a camera.

[0006] In order to solve the above technical problems, the present invention provides a laser radar calibration method, which is applied to a laser radar calibration device, wherein the laser radar calibration device includes a reflector and a controller; the method includes:

[0007] Acquire current data of the laser radar in the vehicle body coordinate system, a first position of a target point on the reflector in the vehicle body coordinate system, and a position of the target point in the laser radar coordinate system; wherein the current data includes at least position data and direction data;

[0008] Determine a second position of the target point in the vehicle body coordinate system according to the position of the target point in the laser radar coordinate system and the current data;

[0009] The current data is adjusted according to the relationship between the first position and the second position, and the situation of the second position to calibrate the laser radar.

[0010] On the one hand, adjusting the current data according to the relationship between the first position and the second position and the situation of the second position to calibrate the laser radar includes:

[0011] In the case where it is detected that the relationship between the first position and the second position meets the first preset requirement, and in the case where it is detected that the second position meets the second preset requirement, determining that the calibration of the laser radar is completed and determining that the current data is the data after the laser radar is calibrated;

[0012] When it is detected that the relationship between the first position and the second position does not satisfy the first preset requirement, or when it is detected that the second position does not satisfy the second preset requirement, new current data is acquired, and the step of determining the second position of the target point in the vehicle coordinate system based on the position of the target point in the lidar coordinate system and the current data is returned.

[0013] On the other hand, the laser radar calibration device also includes a chassis; a reference point is set on the chassis; the reflector is installed on the chassis; when calibrating the laser radar, the projection point of the rear axle center point of the vehicle on the chassis is the reference point;

[0014] Acquiring a first position of a target point on the reflective plate in a vehicle body coordinate system includes:

[0015] Obtaining the position of the target point on the reflective plate in a coordinate system with the reference point as the coordinate origin;

[0016] The first position of the target point in the vehicle body coordinate system is determined according to the distance between the center point of the rear axle of the vehicle and the reference point, and the position of the target point in the coordinate system with the reference point as the coordinate origin.

[0017] On the other hand, the reflective plate includes a first reflective tape, a second reflective tape and a third reflective tape, wherein the first reflective tape is located in the direction indicated by the coordinate axis of the coordinate system with the reference point as the coordinate origin, and the second reflective tape and the third reflective tape are symmetrical about the coordinate axis of the coordinate system with the reference point as the coordinate origin.

[0018] On the other hand, determining the second position of the target point in the vehicle body coordinate system according to the position of the target point in the laser radar coordinate system and the current data includes:

[0019] Obtaining the position of the target point in the laser radar coordinate system;

[0020] Determine a posture transformation matrix according to the current data;

[0021] The position of the target point in the laser radar coordinate system is converted into the second position of the target point in the vehicle body coordinate system through the posture transformation matrix.

[0022] On the other hand, before acquiring the current data of the laser radar in the vehicle body coordinate system, the first position of the target point on the reflector in the vehicle body coordinate system, and the position of the target point in the laser radar coordinate system, the method further includes:

[0023] Get point cloud data collected by LiDAR;

[0024] When the data of the laser radar in the vehicle body coordinate system is the first data, obtaining the first point cloud data corresponding to the point cloud data in the vehicle body coordinate system, and displaying the first point cloud data on the visualization interface;

[0025] When the data of the laser radar in the vehicle body coordinate system is the second data, obtaining the second point cloud data corresponding to the point cloud data in the vehicle body coordinate system, and displaying the second point cloud data on the visualization interface;

[0026] If it is observed on the visualization interface that the first point cloud data is different from the second point cloud data, the step of obtaining the current data of the laser radar in the vehicle body coordinate system, the first position of the target point on the reflector in the vehicle body coordinate system, and the position of the target point in the laser radar coordinate system is entered.

[0027] On the other hand, in the case of calibrating the position of the laser radar, the target point is a point on the first reflective sticker, a point on the second reflective sticker and / or a point on the third reflective sticker; the first preset requirement is that the difference between each coordinate value in the first position and the corresponding coordinate value in the second position is within a first difference range;

[0028] The obtaining of new current data comprises:

[0029] The position data in the current data is adjusted, and the adjusted current data is used as the first new current data.

[0030] On the other hand, in the case of calibrating the heading angle in the direction angle of the laser radar, the target point is a point on the first reflective tape; the second preset requirement is that the target coordinates of the second position are extended to point in the direction where the first reflective tape is located; wherein the target coordinates are coordinates in the direction indicated by the coordinate axis of the coordinate system with the reference point as the coordinate origin;

[0031] The obtaining of new current data comprises:

[0032] Adjusting the heading angle data of the first new current data, and using the adjusted current data as the second new current data;

[0033] In the case of calibrating the roll angle in the azimuth angle of the laser radar, the target points are a first target point on the second reflective sticker and a second target point on the third reflective sticker, the first target point and the second target point have the same height in a coordinate system with the reference point as the coordinate origin, and the second preset requirement is that the difference between the height value of the second position of the first target point in the vehicle body coordinate system and the height value of the second position of the second target point in the vehicle body coordinate system is within a second difference range;

[0034] The obtaining of new current data comprises:

[0035] adjusting the roll angle data of the second new current data, and using the adjusted current data as the third new current data;

[0036] In the case of calibrating the pitch angle in the direction angle of the laser radar, the target point is the first target point and / or the second target point; the second preset requirement is that the difference between the second position of the first target point in the vehicle body coordinate system and the first position of the first target point in the vehicle body coordinate system is within a third preset range, and / or the difference between the second position of the second target point in the vehicle body coordinate system and the first position of the second target point in the vehicle body coordinate system is within the third preset range;

[0037] The obtaining of new current data comprises:

[0038] The pitch angle data of the third new current data is adjusted, and the current data obtained by the adjustment is used as the fourth new current data.

[0039] On the other hand, before determining that the laser radar is calibrated and determining that the current data is the data after the laser radar is calibrated, the method further includes:

[0040] Acquire the point cloud position of the first target point, the point cloud position of the second target point and / or the point cloud position of the third target point collected by the laser radar; wherein the third target point is a point on the first reflective tape;

[0041] Determine the position of each point cloud position in the vehicle body coordinate system according to the current data;

[0042] When it is detected that the distance between the position of each point cloud position in the vehicle body coordinate system and the corresponding first position is less than or equal to the preset distance, determining that the laser radar calibration is completed and determining that the current data is the data after the laser radar calibration;

[0043] When it is detected that the distance between the position of each point cloud position in the vehicle body coordinate system and the corresponding first position is greater than the preset distance, return to the step of obtaining new current data.

[0044] In order to solve the above technical problem, the present invention further provides an electronic device, comprising:

[0045] Memory for storing computer programs;

[0046] A processor is used to implement the steps of the above-mentioned laser radar calibration method when executing the computer program.

[0047] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned laser radar calibration method are implemented.

[0048] The beneficial effects of the present invention are that, in a laser radar calibration device including a controller and a reflector, the method determines the second position of the target point in the vehicle coordinate system according to the position of the target point in the laser radar coordinate system and the current data, and then adjusts the acquired current data (including position data and direction data) of the laser radar in the vehicle coordinate system according to the relationship between the first position and the second position and the situation of the second position, thereby realizing the calibration of the laser radar; and the method does not require the use of a camera, so that when calibrating the laser radar, it is not necessary to consider the internal and external parameters of the camera and the ambient light conditions, which relatively reduces the complexity of the calibration process, thereby improving the efficiency of the laser radar calibration, and the calibration of the vehicle-mounted laser radar can be completed on a vehicle without a camera installed; and, what is analyzed is the position of the target point on the reflector, so that the position of the target point can be quickly and accurately identified based on the light intensity information, further improving the efficiency of the calibration.

[0049] In addition, when calibrating the laser radar, specifically, when it is detected that the relationship between the first position and the second position meets the first preset requirement, and when it is detected that the second position meets the second preset requirement, it is determined that the calibration of the laser radar is completed and the current data is determined to be the data after the laser radar is calibrated; when it is detected that the relationship between the first position and the second position does not meet the first preset requirement, or when it is detected that the second position does not meet the second preset requirement, new current data is obtained, and the step of determining the second position of the target point in the vehicle body coordinate system according to the position of the target point in the laser radar coordinate system and the current data is returned. The accuracy of laser radar calibration is improved by this method.

[0050] The laser radar calibration device also includes a chassis. By setting a reference point on the chassis, the reflector is installed on the chassis, that is, the position of the target point on the reflector in the coordinate system with the reference point as the coordinate origin is fixed. When calibrating the laser radar, the projection point of the center point of the rear axle of the vehicle on the chassis is the reference point. The center of the rear axle of any vehicle is facing the reference point. The position of the target point in the vehicle body coordinate system can be quickly determined based on the distance between the center point of the rear axle of the vehicle and the reference point, and the position of the target point in the coordinate system with the reference point as the coordinate origin, thereby further improving the efficiency of calibration.

[0051] Before obtaining the current data of the laser radar in the vehicle body coordinate system, the first position of the target point on the reflector in the vehicle body coordinate system, and the position of the target point in the laser radar coordinate system, the data of the laser radar in the vehicle body coordinate system is transformed, and the changes in the point cloud data are observed through a visualization interface. The laser radar is calibrated while ensuring normal data transmission, thereby improving the success rate of calibration.

[0052] Reflective stickers are set on the reflective board so that the target point can be quickly and accurately identified according to the photon intensity information. By adjusting the position data in the current data and taking the adjusted current data as the first new current data, the new second position of the target point in the vehicle body coordinate system is determined according to the position of the target point in the laser radar coordinate system and the current data; the difference between each coordinate value in the first position and the corresponding coordinate value in the second position is within the first difference range, thereby realizing the calibration of the position data.

[0053] When calibrating the heading angle, a point on the first reflective tape in the direction indicated by the coordinate axis of the coordinate system with the reference point as the coordinate origin is selected as the target point, and new current data is obtained by adjusting the heading angle data, thereby determining a new second position. When the target coordinates of the second position are extended to point in the direction of the first reflective tape, the heading angle calibration is achieved.

[0054] When calibrating the roll angle, select a target point with the same height as the second reflective sticker and the third reflective sticker symmetrical about the coordinate axis of the coordinate system with the reference point as the coordinate origin, obtain new current data by adjusting the roll angle, and then determine a new second position. When the difference between the height value of the first target point on the second reflective sticker at the second position in the vehicle body coordinate system and the height value of the second target point on the third reflective sticker at the second position in the vehicle body coordinate system is within the second difference range, the roll angle is calibrated.

[0055] When performing pitch angle calibration, the target point is selected as the first target point and / or the second target point, and new current data is obtained by adjusting the pitch angle data, thereby determining a new second position. When the difference between the second position of the first target point in the vehicle body coordinate system and the first position of the first target point in the vehicle body coordinate system is within a third preset range, and / or the difference between the second position of the second target point in the vehicle body coordinate system and the first position of the second target point in the vehicle body coordinate system is within the third preset range, the pitch angle calibration is achieved.

[0056] Before determining that the calibration of the laser radar is completed and determining that the current data is the data after the laser radar is calibrated, if it is detected that the distance between the position of each target point determined according to the current data in the vehicle body coordinate system and the first position in the vehicle body coordinate system is less than or equal to the preset distance, it is determined that the calibration of the laser radar is completed and the current data is determined to be the data after the laser radar is calibrated, thereby realizing the verification of the calibration value.

[0057] In addition, the present invention also provides a laser radar calibration device and a computer-readable storage medium, which have the same or corresponding technical features as the above-mentioned laser radar calibration method and have the same effects as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 A flowchart of a laser radar calibration method provided by an embodiment of the present invention;

[0060] Figure 2 A schematic diagram of a point cloud pose transformation tool provided by an embodiment of the present invention;

[0061] Figure 3 A partial structural diagram of a laser radar calibration device provided by an embodiment of the present invention;

[0062] Figure 4 A structural diagram of a point cloud reflection device provided by an embodiment of the present invention;

[0063] Figure 5 A structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0064] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] The core of the present invention is to provide a laser radar calibration method, electronic device and medium to solve the technical problem that when the checkerboard method is used to calibrate the external parameters of the laser radar, the calibration process is relatively complicated due to the need to combine the internal and external parameters of the camera and consider the environment and lighting conditions, and the calibration cannot be performed on a vehicle without a camera.

[0066] It should be noted that the calibration of the laser radar in the present invention refers to the calibration of the external parameters of the laser radar (external parameters for short). Specifically, it refers to the position and direction of the laser radar relative to the vehicle coordinate system; wherein the direction includes the heading angle (yaw), the roll angle (roll) and the pitch angle (pitch). Vehicle coordinate system: Generally, the center of the rear axle of the vehicle is selected as the origin of the coordinate system, which conforms to the right-hand rule. Generally, the X-axis is ahead, the Y-axis is facing left, and the Z-axis is facing up, that is, it conforms to the front upper left principle. The heading angle is the angle at which the vehicle body rotates around the Z-axis of the vehicle coordinate system, the roll angle is the angle at which the vehicle body rotates around the X-axis of the vehicle coordinate system, and the pitch angle is the angle at which the vehicle body rotates around the Y-axis of the vehicle coordinate system. In addition, the origin of the laser radar coordinate system is located inside the laser radar housing, and different laser radars have different positions. The XYZ axes also conform to the right-hand rule, but different radars have different directions.

[0067] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Figure 1 A flowchart of a laser radar calibration method provided in an embodiment of the present invention is applied to a laser radar calibration device including a reflector and a controller. The method includes:

[0068] S10: Acquire current data of the laser radar in the vehicle body coordinate system, a first position of the target point on the reflector in the vehicle body coordinate system, and a position of the target point in the laser radar coordinate system; wherein the current data includes at least position data and direction data;

[0069] S11: determining a second position of the target point in the vehicle body coordinate system according to the position of the target point in the laser radar coordinate system and current data;

[0070] S12: Adjust the current data according to the relationship between the first position and the second position and the situation of the second position to calibrate the laser radar.

[0071] The current data of the laser radar in the vehicle coordinate system can be obtained through actual measurement. That is, the current data is the actual value, and the current data at least includes position data (i.e., xyz value) and direction data (i.e., heading angle, roll angle, and pitch angle). Although the data of the laser radar in the vehicle coordinate system is obtained through measurement, the actual measured value may have errors, so the current data is further adjusted to achieve a more accurate calibration of the laser radar.

[0072] In addition to obtaining the current data of the laser radar in the vehicle body coordinate system, the first position of the target point on the reflector in the vehicle body coordinate system and the position of the target point in the laser radar coordinate system are also obtained. The first position of the target point on the reflector in the vehicle body coordinate system can be obtained by actual measurement.

[0073] In implementation, in order to improve the efficiency of obtaining the first position and thus improve the efficiency of calibration, the laser radar calibration device provided by the present invention also includes a chassis; a reference point is set on the chassis; a reflector is installed on the chassis; when calibrating the laser radar, the projection point of the center point of the rear axle of the vehicle on the chassis is the reference point. In addition, in order to avoid the change in the position of the vehicle during the calibration process affecting the accuracy of the calibration result and to make the calibration device suitable for calibration of various types of vehicles, in implementation, a rear wheel groove baffle and a front wheel groove baffle are also set on the chassis part. The rear wheel groove baffle is a movable device, which is used to fix the left and right directions of the rear wheels of the vehicle. The advantage of the movable device is that it can adapt to the calibration of vehicles with different wheel spacings; the front wheel groove baffle is a movable device, which is used to fix the left and right directions of the front wheels of the vehicle. The advantage of the movable device is that it can adapt to the calibration of vehicles with different wheel spacings.

[0074] Based on the laser radar calibration device including the above chassis, obtaining the first position of the target point on the reflective plate in the vehicle body coordinate system includes:

[0075] Obtain the position of the target point on the reflective plate in the coordinate system with the reference point as the coordinate origin;

[0076] The first position of the target point in the vehicle body coordinate system is determined according to the distance between the center point of the rear axle of the vehicle and the reference point, and the position of the target point in the coordinate system with the reference point as the coordinate origin.

[0077] When determining the position of a target point in the laser radar coordinate system, the laser radar emits a laser pulse and determines it by receiving the photons reflected from the target point. In addition, the position of the target point on the reflector is analyzed so that the position of the target point can be quickly and accurately identified based on the light intensity information.

[0078] After determining the first position of the target point on the reflector in the vehicle body coordinate system and the position of the target point in the laser radar coordinate system, the second position of the target point in the vehicle body coordinate system is determined according to the position of the target point in the laser radar coordinate system and current data.

[0079] Specifically, determining the second position of the target point in the vehicle body coordinate system according to the position of the target point in the laser radar coordinate system and the current data includes:

[0080] Get the position of the target point in the laser radar coordinate system;

[0081] Determine the pose transformation matrix based on the current data;

[0082] The position of the target point in the lidar coordinate system is converted into the second position of the target point in the vehicle coordinate system through the pose transformation matrix.

[0083] Assume that the point cloud coordinates in the laser radar coordinate system are , the point cloud coordinates in the vehicle coordinate system are , the pose transformation matrix is ,but . Pose transformation matrix for:

[0084] ;

[0085] in, , , , , , , , and It is the value determined based on the direction data in the current data. , and It is a value determined based on the position data in the current data.

[0086] After determining the second position of the target point in the vehicle body coordinate system, the current data is adjusted according to the relationship between the first position and the second position and the situation of the second position to calibrate the laser radar.

[0087] In implementation, adjusting current data according to the relationship between the first position and the second position and the situation of the second position to calibrate the laser radar includes:

[0088] When it is detected that the relationship between the first position and the second position meets the first preset requirement, and when it is detected that the second position meets the second preset requirement, determining that the calibration of the laser radar is completed and determining that the current data is the data after the laser radar is calibrated;

[0089] When it is detected that the relationship between the first position and the second position does not satisfy the first preset requirement, or when it is detected that the second position does not satisfy the second preset requirement, new current data is acquired, and the step of determining the second position of the target point in the vehicle coordinate system based on the position of the target point in the lidar coordinate system and the current data is returned.

[0090] There is no limitation on the first preset requirement and the second preset requirement, which are determined according to the parameters (position data and direction data) in the external parameters of the calibrated laser radar.

[0091] It is worth noting that in order to improve the success rate of laser radar calibration, before calibration, first verify whether the data in the calibration process can be transmitted normally. Specifically, before obtaining the current data of the laser radar in the vehicle coordinate system, the first position of the target point on the reflector in the vehicle coordinate system, and the position of the target point in the laser radar coordinate system, it also includes:

[0092] Get point cloud data collected by LiDAR;

[0093] When the data of the laser radar in the vehicle body coordinate system is the first data, first point cloud data corresponding to the point cloud data in the vehicle body coordinate system is obtained, and the first point cloud data is displayed on the visualization interface;

[0094] When the data of the laser radar in the vehicle body coordinate system is the second data, obtaining the second point cloud data corresponding to the point cloud data in the vehicle body coordinate system, and displaying the second point cloud data on the visualization interface;

[0095] If it is observed on the visualization interface that the first point cloud data is different from the second point cloud data, the step of obtaining the current data of the laser radar in the vehicle body coordinate system, the first position of the target point on the reflector in the vehicle body coordinate system, and the position of the target point in the laser radar coordinate system is entered.

[0096] After confirming that the data in the calibration process can be transmitted normally, the laser radar calibration process is entered. The following takes the reflector including the first reflective sticker, the second reflective sticker and the third reflective sticker as an example to illustrate the calibration process. The first reflective sticker is located in the direction indicated by the coordinate axis of the coordinate system with the reference point as the coordinate origin, and the second reflective sticker and the third reflective sticker are symmetrical about the coordinate axis of the coordinate system with the reference point as the coordinate origin.

[0097] In the case of calibrating the position of the laser radar, the target point is a point on the first reflective sticker, a point on the second reflective sticker, and / or a point on the third reflective sticker; the first preset requirement is that the difference between each coordinate value in the first position and the corresponding coordinate value in the second position is within a first difference range;

[0098] Getting new current data includes:

[0099] The position data in the current data is adjusted, and the adjusted current data is used as the first new current data.

[0100] If the first position is (x0, y0, z0) and the second position is (x1, y1, z1), the first preset requirement is that the difference between x0 and x1, the difference between y0 and y1, and the difference between z0 and z1 are all within the first difference range. There is no limit on the first difference range. When the calibration accuracy requirement is high, the difference is 0.

[0101] In the case of calibrating the heading angle in the direction angle of the laser radar, the target point is a point on the first reflective sticker; the second preset requirement is that the target coordinates of the second position are extended to point in the direction where the first reflective sticker is located; wherein the target coordinates are coordinates in the direction indicated by the coordinate axis of the coordinate system with the reference point as the coordinate origin;

[0102] Getting new current data includes:

[0103] The heading angle data of the first new current data is adjusted, and the adjusted current data is used as the second new current data.

[0104] In the case of calibrating the roll angle in the azimuth angle of the laser radar, the target points are a first target point on the second reflective sticker and a second target point on the third reflective sticker, the first target point and the second target point have the same height in a coordinate system with the reference point as the coordinate origin, and the second preset requirement is that the difference between the height value of the second position of the first target point in the vehicle body coordinate system and the height value of the second position of the second target point in the vehicle body coordinate system is within a second difference range;

[0105] Getting new current data includes:

[0106] The roll angle data of the second latest current data is adjusted, and the adjusted current data is used as the third latest current data.

[0107] For example, the second position of the first target point in the vehicle body coordinate system is (x2, y2, z2), and the second position of the second target point in the vehicle body coordinate system is (x3, y3, z3). The second preset requirement is that the difference between z2 and z3 is within the second difference range. There is no limitation on the second difference range. When the calibration accuracy requirement is high, the difference is 0.

[0108] In the case of calibrating the pitch angle in the direction angle of the laser radar, the target point is the first target point and / or the second target point; the second preset requirement is that the difference between the second position of the first target point in the vehicle body coordinate system and the first position of the first target point in the vehicle body coordinate system is within a third preset range, and / or the difference between the second position of the second target point in the vehicle body coordinate system and the first position of the second target point in the vehicle body coordinate system is within the third preset range;

[0109] Getting new current data includes:

[0110] The pitch angle data of the third latest current data is adjusted, and the adjusted current data is used as the fourth latest current data.

[0111] In implementation, in order to improve the efficiency of calibration, when adjusting the current data to obtain new current data, the initial value of the parameter to be calibrated in the current data is obtained, and the initial value is increased / decreased to obtain the new current data. If the position of the target point measured by the user does not meet the requirements, it is determined to reduce / increase the initial value to obtain the new current data.

[0112] There is no limitation on the requirements to be met, and it is determined according to the parameters to be calibrated. For example, if the roll angle of the laser radar to be calibrated is to obtain the initial value of the roll angle of the current data, increase the initial value to obtain new current data, and if the height of the first target point and the height of the second target point observed by the user are obviously not at the same height, then it is determined to reduce the initial value to obtain new current data.

[0113] When adjusting the current data, the calibration efficiency is improved by determining whether the previous adjustment (increase or decrease) deviates from the calibration result based on the user's measurement results, and then selecting the appropriate adjustment method.

[0114] In order to verify the calibration result, before determining that the laser radar is calibrated and determining that the current data is the data after the laser radar is calibrated, it also includes:

[0115] Obtaining a point cloud position of a first target point, a point cloud position of a second target point, and / or a point cloud position of a third target point collected by the laser radar; wherein the third target point is a point on the first reflective sticker;

[0116] Determine the position of each point cloud in the vehicle coordinate system based on the current data;

[0117] When it is detected that the distance between the position of each point cloud position in the vehicle body coordinate system and the corresponding first position is less than or equal to the preset distance, determining that the laser radar calibration is completed and determining that the current data is the data after the laser radar calibration;

[0118] When it is detected that the distance between the position of each point cloud position in the vehicle body coordinate system and the corresponding first position is greater than the preset distance, return to the step of obtaining new current data.

[0119] There is no limit on the preset distance, which is determined according to actual conditions, such as the preset distance is within 1 cm.

[0120] The calibration of the laser radar is described in detail above. In order to enable those skilled in the art to better understand the calibration method of the laser radar of the present invention, the following description will be continued in conjunction with the accompanying drawings and specific embodiments. It should be noted that the above-mentioned process of obtaining the current data of the laser radar in the vehicle body coordinate system, adjusting the current data, and determining the second position of the target point in the vehicle body coordinate system according to the position of the target point in the laser radar coordinate system and the current data, and visualizing the second position can be achieved by developing a visualization point cloud parameter adjustment tool. The chassis part can be called a vehicle fixture, and the reflector can be called a point cloud reflection device. Specifically, the reflector where the first reflective sticker is located is called a reflection column, the reflector where the second reflective sticker is located is called a first reflection plate, and the reflector where the third reflective sticker is located is called a second reflection plate. That is, in the laser radar calibration device, the vehicle fixture (i.e., chassis), the point cloud reflection device and the point cloud pose transformation tool (i.e., visualization point cloud parameter adjustment tool) method are combined to realize the calibration of the external parameters of the unmanned vehicle-mounted laser radar.

[0121] 1) Chassis:

[0122] The chassis part requires a rectangular calibration base plate, which can be made of steel or other hard objects. First, the projection point of the center point of the vehicle's rear axle on the base plate is set on the calibration chassis, and then a groove is cut according to the projection point as the center of the vehicle's rear wheel fixed groove. A movable groove is set in the front wheel groove to adapt to the calibration of different vehicles.

[0123] About 20m in front of the extended part of the calibration base plate, a reflective column with a diameter of 5cm and a height of 2m is set up for calibrating the yaw angle, i.e. the heading angle, of the laser radar.

[0124] Two calibration plates are set on both sides of the calibration chassis, and a reflector with a side length of 5 cm is placed in the center of the calibration plate to calibrate the pitch and roll of the lidar.

[0125] 2) Point cloud pose transformation tool:

[0126] Figure 2 A schematic diagram of a point cloud pose transformation tool provided by an embodiment of the present invention is shown in FIG. Figure 2As shown in the figure, there are adjustment buttons for the horizontal coordinate x, vertical coordinate y, vertical coordinate z, roll angle, pitch angle and yaw angle on the visualization interface of the point cloud pose transformation tool. The working principle of the point cloud pose transformation tool is to input the initial calibration value (x, y, z, roll, pitch, yaw) for it, and then adjust the value by pressing the up and down buttons on the corresponding box of each value. The background generates the transformation matrix by loading the calibration value and visualizes the transformed point cloud.

[0127] 3) LiDAR calibration:

[0128] Drive the vehicle onto the calibration base plate and fix the vehicle in the front and rear wheel grooves respectively. Power on the laser radar, check whether the data transmission is correct, subscribe to the point cloud in the visualization tool, and display the point cloud in real time, open the point cloud pose transformation tool, give the calibration initial value, and adjust the value button. Subscribe to the adjusted point cloud in the visualization tool to see if it changes in real time. After everything is normal, start the calibration work. Take the laser radar coordinate system with the x-axis facing forward, the y-axis facing left, and the z-axis facing up as an example:

[0129] 1. Adjustment of xyz value: According to the three-dimensional model of the vehicle, obtain the coordinate value xyz of the center of the laser radar shell at the center of the rear axle of the vehicle, and write it into the x, y, and z boxes corresponding to the point cloud pose transformation tool; obtain the first position (ie, the actual position) of the target point in the vehicle body coordinate system; obtain the photons reflected by the target point received by the laser radar to determine the position of the target point in the laser radar coordinate system, and convert the position of the target point in the laser radar coordinate system to the position of the laser radar in the vehicle body coordinate system (ie, the second position). If the difference between each coordinate value in the first position and the corresponding coordinate value in the second position is within a certain range, it is determined that the calibration of the xyz value is completed, otherwise adjust the xyz value box in the point cloud pose transformation tool.

[0130] 2. Adjustment of yaw angle value: yaw angle is heading angle. Extend the coordinate x-axis displayed on the visualization tool to see if it points to the reflection column in the center of the calibration base plate. If there is a deviation, it proves that the yaw value needs to be adjusted. According to the actual situation, adjust the yaw value box in the point cloud pose transformation tool so that the x-axis displayed on the visualization tool faces the reflection column, and the calibration of the yaw angle is completed.

[0131] 3. Roll angle adjustment: The roll angle is the roll angle. The visualization tool has the function of extracting point cloud intensity information. The coordinate value z of the center point of the first reflector and the second reflector is extracted, and the z value difference between the two within 10 frames is calculated. At the same time, the roll value in the point cloud pose transformation tool is adjusted. If the z value difference is very small and within the set allowable range, the roll angle calibration is completed.

[0132] 4. Adjustment of pitch angle value: Pitch angle is the elevation angle. The visualization tool has the function of extracting point cloud intensity information. The coordinate values ​​of the center points of the first reflector and the second reflector are extracted. The pitch value in the point cloud pose transformation tool is adjusted. The average value of the difference between the coordinate values ​​of the center points of the reflectors in multiple frames and the actual coordinate values ​​of the reflectors is calculated. If the difference meets the calibration requirements, the calibration of the pitch angle is completed.

[0133] Click the Save button of the point cloud pose transformation tool to save and export the fixed data.

[0134] Figure 3 A partial structural diagram of a laser radar calibration device provided by an embodiment of the present invention, such as Figure 3 As shown, it includes a point cloud reflection device and a chassis part. The point cloud reflection device includes a reflection column 1, a first reflection plate 2 and a second reflection plate 3; the chassis part includes a rear wheel groove 4, a rear wheel groove baffle 5, a front wheel groove 6, a front wheel groove baffle 7 and a bottom plate 9. The dotted line of the chassis part along the x-axis represents the center line 8 of the chassis part. Figure 4 A structural diagram of a point cloud reflection device provided in an embodiment of the present invention.

[0135] The reflective column 1 is installed on the center line of the calibration bottom plate, about 20m away from the center point P of the rear wheel groove (the specific data is adjustable). Its function is to adjust the yaw angle of the laser radar, so as to obtain the rotation angle of the laser radar coordinate system around the z-axis of the vehicle body coordinate system. In the center part of the reflective column, there is a first reflective sticker 10;

[0136] The first reflector 2 (left reflector) is installed about 1m to the left of the center line of the calibration base plate, flush with the reflector column. A second reflective sticker 11 is attached to its center. Since the laser radar point cloud carries the intensity information of the scanned object, it is used to mark the point cloud of the laser radar in this area.

[0137] The second reflector 3 (right reflector) is installed about 1m to the right of the center line, flush with the reflector column, and symmetrical with the left reflector. A third reflective sticker 12 is attached to the center of the reflector. Since the laser radar point cloud carries the intensity information of the scanned object, it is used to mark the point cloud of the laser radar in this area.

[0138] The function of the rear wheel groove 4 is to fix the rear wheel of the vehicle in the front-to-back direction;

[0139] The rear wheel well baffle 5 is a movable device, which is used to fix the rear wheel of the vehicle in the left and right directions. The advantage of the movable device is that it can adapt to the calibration of vehicles with different wheelbases;

[0140] The function of the front wheel groove 6 is to fix the front wheel of the vehicle in the front-rear direction. The front wheel groove is movable and is used for calibration of vehicles with different wheelbases.

[0141] The front wheel groove baffle 7 is a movable device, which is used to fix the front wheel of the vehicle in the left and right directions. The advantage of the movable device is that it can adapt to the calibration of vehicles with different wheel spacings.

[0142] The base plate 9 is constructed as a rectangular calibration base plate, and the material can be steel or other hard objects. It is the basis of the calibration device and is used to fix the vehicle to be calibrated.

[0143] The center point P of the rear groove of the chassis is the coordinate center point of the entire device, and its coordinates are set to ,in Indicates the distance between the center of the vehicle's rear axle and the center point of the calibration chassis. During calibration, the vehicle is fixed by a movable wheel slot. After fixation, the projection point of the vehicle's rear axle center position on the calibration base plate coincides with the center point of the rear wheel slot. The rear axle center of the calibrated vehicle is the calibration origin. According to the model of the calibration device, the coordinates of the first reflective sticker 10 on the reflective column 1 are known to be , it is known that the coordinates of the second reflective sticker at the center point of the first reflector 2 are , it is known that the coordinates of the third reflective sticker of the center point on the second reflector 3 are .

[0144] The point cloud pose changes in the laser radar calibration device are as described above Figure 2 As shown in the figure, there are six input windows for parameters: x, y, z, roll, pitch and yaw. After entering the initial value, you can adjust the value by clicking the up and down arrow buttons on the right side of the number box.

[0145] 1. The background pose transformation program reads the 6 parameters in the tool box in real time and converts them into a pose transformation matrix , the point cloud coordinates in the laser radar coordinate system are , the point cloud coordinates in the vehicle coordinate system are , the pose transformation matrix is ,but ,pass Convert the coordinates of the point cloud in the laser radar coordinate system to the vehicle body coordinate system;

[0146] 2. After converting the coordinates of the point cloud in the laser radar coordinate system to the vehicle coordinate system, perform point cloud visualization.

[0147] Based on the laser radar calibration device provided above, the laser radar is calibrated. Start calibration, drive the vehicle onto the bottom plate, align the center of the rear axle of the vehicle with the center of the chassis by the front and rear wheel groove fixing devices, and then fix the vehicle. During the alignment process, a vertical line device can be placed at the center of the rear axle of the vehicle to align the center of the calibration chassis; power on the laser radar, check whether the data transmission is correct, open the visualization tool to subscribe to the point cloud, and display the point cloud in real time; open the point cloud pose transformation tool and its background program, temporarily set the values ​​of its six parameters to 0, click the value adjustment button, subscribe to the adjusted point cloud in the visualization tool, and see if it changes in real time. After everything is normal, start calibration.

[0148] The calibration process is as follows:

[0149] 1. Adjustment of xyz values: According to the three-dimensional model of the vehicle, obtain the coordinate value xyz of the center of the laser radar shell at the center of the rear axle of the vehicle, and write it into the x, y and z boxes corresponding to the point cloud pose transformation tool; obtain the first position (ie, the actual position) of the target point in the vehicle body coordinate system; obtain the photons reflected by the target point received by the laser radar to determine the position of the target point in the laser radar coordinate system, and convert the position of the target point in the laser radar coordinate system to the position of the laser radar in the vehicle body coordinate system (ie, the second position). If the difference between each coordinate value in the first position and the corresponding coordinate value in the second position is within a certain range, it is determined that the calibration of the xyz value is completed, otherwise adjust the xyz value box in the point cloud pose transformation tool.

[0150] 2. Adjustment of yaw angle value: yaw angle is heading angle. Extend the x-axis of coordinates displayed on the visualization tool to see if it points to the reflection column in the center. If there is a deviation, it proves that the yaw value needs to be adjusted. According to the actual situation, adjust the yaw value box in the point cloud pose transformation tool so that the x-axis of the coordinate system in the visualization tool faces the reflection column. The calibration of the yaw angle is completed.

[0151] 3. Roll angle adjustment: The roll angle is the roll angle. The visualization tool has the function of extracting point cloud intensity information. The coordinate value z of the center point of the left and right reflectors is extracted, and the z value difference between the two within 100 frames is calculated. At the same time, the roll value in the point cloud pose transformation tool is adjusted. If the z value difference is within 1 cm, which is within the set allowable range, the roll angle calibration is completed.

[0152] 4. Adjustment of pitch angle value: Pitch angle is the elevation angle. The visualization tool has the function of extracting point cloud intensity information. The coordinate values ​​of the center points of the left and right reflectors are extracted. By adjusting the pitch value in the point cloud pose transformation tool, the average value of the difference between the coordinate values ​​of the center points of the reflectors in multiple frames and the actual coordinate values ​​of the reflectors is calculated. If the difference meets the calibration requirements within 1 cm, the calibration of the pitch angle is completed.

[0153] 5. Calibration value verification: Extract the coordinate value of the first reflective sticker 10 of the multi-frame reflective column 1 and calculate its coordinate mean Similarly, the coordinate values ​​of the first reflective sticker 11 of the first reflective plate 2 of multiple frames are extracted and the average coordinate value is calculated as , extract the coordinate values ​​of the second reflective sticker 12 of the second reflective plate 3 of multiple frames and calculate the average coordinate value ,calculate With actual coordinates The difference between With actual coordinates The difference between With actual coordinates If the difference is within 1cm, it meets the calibration requirements. If not, repeat the steps for calibration.

[0154] Click the Save button of the Point Cloud Pose Transformation Tool to save and export the calibration data.

[0155] The laser radar calibration method provided by the present invention realizes the accurate calibration of the laser radar coordinate system of the unmanned driving vehicle and the vehicle body coordinate system. The method has fast implementation speed and high alignment accuracy, and can be adapted to different vehicle models and different laser radars, which can help the unmanned driving system to be quickly deployed on the vehicle side.

[0156] In the above embodiments, the laser radar calibration method is described in detail, and the present invention also provides corresponding embodiments of the laser radar calibration system and the electronic device. It should be noted that the present invention describes the embodiments of the device part from two perspectives, one is based on the functional module perspective, and the other is based on the hardware perspective.

[0157] The laser radar calibration system provided in the embodiment of the present invention includes, based on the perspective of functional modules:

[0158] A first acquisition module is used to acquire current data of the laser radar in the vehicle body coordinate system, a first position of a target point on the reflector in the vehicle body coordinate system, and a position of the target point in the laser radar coordinate system; wherein the current data includes at least position data and direction data;

[0159] A first determination module, used to determine a second position of the target point in the vehicle body coordinate system according to the position of the target point in the laser radar coordinate system and current data;

[0160] The calibration module is used to adjust the current data according to the relationship between the first position and the second position and the situation of the second position to calibrate the laser radar.

[0161] In some embodiments, the laser radar calibration system further includes:

[0162] The second acquisition module is used to acquire point cloud data collected by the laser radar;

[0163] A third acquisition module is used to acquire first point cloud data corresponding to the point cloud data in the vehicle body coordinate system when the data of the laser radar in the vehicle body coordinate system is the first data, and display the first point cloud data on the visualization interface;

[0164] a fourth acquisition module, for acquiring second point cloud data corresponding to the point cloud data in the vehicle body coordinate system when the data of the laser radar in the vehicle body coordinate system is second data, and displaying the second point cloud data on the visualization interface;

[0165] The observation module is used to trigger the first acquisition module when it is observed on the visualization interface that the first point cloud data is different from the second point cloud data.

[0166] In some embodiments, the laser radar calibration system further includes:

[0167] A fifth acquisition module is used to acquire a point cloud position of a first target point, a point cloud position of a second target point, and / or a point cloud position of a third target point collected by the laser radar; wherein the third target point is a point on the first reflective sticker;

[0168] The second determination module is used to determine the position of each point cloud position in the vehicle body coordinate system according to the current data;

[0169] A detection and determination module, for determining that the laser radar is calibrated and that the current data is data after the laser radar is calibrated when it is detected that the distance between the position of each point cloud position in the vehicle body coordinate system and the corresponding first position is less than or equal to a preset distance;

[0170] A detection module, configured to return to trigger a sixth acquisition module when it is detected that the distance between the position of each point cloud position in the vehicle body coordinate system and the corresponding first position is greater than a preset distance;

[0171] Wherein, the sixth acquisition module is used to acquire new current data.

[0172] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, which will not be repeated here.

[0173] Figure 5 This is a structural diagram of an electronic device provided by an embodiment of the present invention. This embodiment is based on the hardware perspective, such as Figure 5 As shown, the electronic equipment includes:

[0174] A memory 20, used for storing computer programs;

[0175] The processor 21 is used to implement the steps of the method of the electronic device mentioned in the above embodiment when executing the computer program.

[0176] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array. The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

[0177] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the laser radar calibration method disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the data involved in the laser radar calibration method mentioned above, etc.

[0178] In some embodiments, the electronic device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power source 25 , and a communication bus 26 .

[0179] Those skilled in the art will understand that Figure 5 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure.

[0180] The electronic device provided by an embodiment of the present invention includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: a laser radar calibration method, with the same effect as above.

[0181] An embodiment of the present invention also provides a computer program product, including a computer program / instruction, which implements the steps of the above-mentioned laser radar calibration method when executed by a processor.

[0182] Finally, the present invention also provides an embodiment corresponding to 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 recorded in the above method embodiment are implemented.

[0183] It is understandable that if the method in the above embodiment 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 technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc. Various media that can store program codes.

[0184] The computer-readable storage medium provided by the present invention includes the above-mentioned laser radar calibration method, and the effect is the same as above.

[0185] The above is a detailed introduction to a laser radar calibration method, electronic device and medium provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the present invention.

[0186] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A laser radar calibration method, characterized in that: Applied to a laser radar calibration device, the laser radar calibration device includes a reflector and a controller; the method includes: Acquire current data of the laser radar in the vehicle body coordinate system, a first position of a target point on the reflector in the vehicle body coordinate system, and a position of the target point in the laser radar coordinate system; wherein the current data includes at least position data and direction data; Determine a second position of the target point in the vehicle body coordinate system according to the position of the target point in the laser radar coordinate system and the current data; The current data is adjusted according to the relationship between the first position and the second position, and the situation of the second position to calibrate the laser radar.

2. The laser radar calibration method according to claim 1, characterized in that: The adjusting the current data according to the relationship between the first position and the second position and the situation of the second position to calibrate the laser radar includes: In the case where it is detected that the relationship between the first position and the second position meets the first preset requirement, and in the case where it is detected that the second position meets the second preset requirement, determining that the calibration of the laser radar is completed and determining that the current data is the data after the laser radar is calibrated; When it is detected that the relationship between the first position and the second position does not satisfy the first preset requirement, or when it is detected that the second position does not satisfy the second preset requirement, new current data is acquired, and the step of determining the second position of the target point in the vehicle coordinate system based on the position of the target point in the lidar coordinate system and the current data is returned.

3. The laser radar calibration method according to claim 2, characterized in that: The laser radar calibration device also includes a chassis; a reference point is set on the chassis; the reflector is installed on the chassis; when calibrating the laser radar, the projection point of the center point of the rear axle of the vehicle on the chassis is the reference point; Acquiring a first position of a target point on the reflective plate in a vehicle body coordinate system includes: Obtaining the position of the target point on the reflective plate in a coordinate system with the reference point as the coordinate origin; The first position of the target point in the vehicle body coordinate system is determined according to the distance between the center point of the rear axle of the vehicle and the reference point, and the position of the target point in the coordinate system with the reference point as the coordinate origin.

4. The laser radar calibration method according to claim 3, characterized in that: The reflective plate includes a first reflective tape, a second reflective tape and a third reflective tape, wherein the first reflective tape is located in the direction indicated by the coordinate axis of the coordinate system with the reference point as the coordinate origin, and the second reflective tape and the third reflective tape are symmetrical about the coordinate axis of the coordinate system with the reference point as the coordinate origin.

5. The laser radar calibration method according to claim 4, characterized in that: Determining a second position of the target point in the vehicle body coordinate system according to the position of the target point in the laser radar coordinate system and the current data includes: Obtaining the position of the target point in the laser radar coordinate system; Determine a posture transformation matrix according to the current data; The position of the target point in the laser radar coordinate system is converted into the second position of the target point in the vehicle body coordinate system through the posture transformation matrix.

6. The laser radar calibration method according to any one of claims 3 to 5, characterized in that: Before acquiring the current data of the laser radar in the vehicle body coordinate system, the first position of the target point on the reflector in the vehicle body coordinate system, and the position of the target point in the laser radar coordinate system, the method further includes: Get point cloud data collected by LiDAR; When the data of the laser radar in the vehicle body coordinate system is the first data, obtaining the first point cloud data corresponding to the point cloud data in the vehicle body coordinate system, and displaying the first point cloud data on the visualization interface; When the data of the laser radar in the vehicle body coordinate system is the second data, obtaining the second point cloud data corresponding to the point cloud data in the vehicle body coordinate system, and displaying the second point cloud data on the visualization interface; If it is observed on the visualization interface that the first point cloud data is different from the second point cloud data, the step of obtaining the current data of the laser radar in the vehicle body coordinate system, the first position of the target point on the reflector in the vehicle body coordinate system, and the position of the target point in the laser radar coordinate system is entered.

7. The laser radar calibration method according to claim 5, characterized in that: In the case of calibrating the position of the laser radar, the target point is a point on the first reflective sticker, a point on the second reflective sticker and / or a point on the third reflective sticker; the first preset requirement is that the difference between each coordinate value in the first position and the corresponding coordinate value in the second position is within a first difference range; The obtaining of new current data comprises: The position data in the current data is adjusted, and the adjusted current data is used as the first new current data.

8. The laser radar calibration method according to claim 7, characterized in that: In the case of calibrating the heading angle in the direction angle of the laser radar, the target point is a point on the first reflective tape; the second preset requirement is that the target coordinates of the second position are extended to point in the direction where the first reflective tape is located; wherein the target coordinates are coordinates in the direction indicated by the coordinate axis of the coordinate system with the reference point as the coordinate origin; The obtaining of new current data comprises: Adjusting the heading angle data of the first new current data, and using the adjusted current data as the second new current data; In the case of calibrating the roll angle in the azimuth angle of the laser radar, the target points are a first target point on the second reflective sticker and a second target point on the third reflective sticker, the first target point and the second target point have the same height in a coordinate system with the reference point as the coordinate origin, and the second preset requirement is that the difference between the height value of the second position of the first target point in the vehicle body coordinate system and the height value of the second position of the second target point in the vehicle body coordinate system is within a second difference range; The obtaining of new current data comprises: adjusting the roll angle data of the second new current data, and using the adjusted current data as the third new current data; In the case of calibrating the pitch angle in the direction angle of the laser radar, the target point is the first target point and / or the second target point; the second preset requirement is that the difference between the second position of the first target point in the vehicle body coordinate system and the first position of the first target point in the vehicle body coordinate system is within a third preset range, and / or the difference between the second position of the second target point in the vehicle body coordinate system and the first position of the second target point in the vehicle body coordinate system is within the third preset range; The obtaining of new current data comprises: The pitch angle data of the third new current data is adjusted, and the current data obtained by the adjustment is used as the fourth new current data.

9. The laser radar calibration method according to claim 8, characterized in that: Before determining that the laser radar is calibrated and determining that the current data is the data after the laser radar is calibrated, the method further includes: Obtaining the point cloud position of the first target point, the point cloud position of the second target point, and / or the point cloud position of the third target point collected by the laser radar; wherein the third target point is a point on the first reflective tape; Determine the position of each point cloud position in the vehicle body coordinate system according to the current data; When it is detected that the distance between the position of each point cloud position in the vehicle body coordinate system and the corresponding first position is less than or equal to the preset distance, determining that the laser radar calibration is completed and determining that the current data is the data after the laser radar calibration; When it is detected that the distance between the position of each point cloud position in the vehicle body coordinate system and the corresponding first position is greater than the preset distance, return to the step of obtaining new current data.

10. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, used to implement the steps of the laser radar calibration method as described in any one of claims 1 to 9 when executing the computer program.

11. A computer-readable storage medium, characterized in that: 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 according to any one of claims 1 to 9 are implemented.

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