Calibration system and method for laser radar headlamp

Abstract

The invention relates to the technical field of laser radar calibration, in particular to a calibration system and method for a laser radar headlamp. The system comprises a vehicle fixing device, four reflecting plates and three reflecting rods, the four reflecting plates and the three reflecting rods are longitudinally arranged in front of the vehicle fixing device, one reflecting rod is arranged between every two adjacent reflecting plates, and the four reflecting plates and the three reflecting rods are used for reflecting radar waves emitted by the left headlamp laser radar and the right headlamp laser radar; during calibration, a to-be-calibrated vehicle is fixed to the vehicle fixing device, the center of a left headlamp of the to-be-calibrated vehicle and the center of the first reflection rod are located on the same straight line, and the center of the to-be-calibrated vehicle and the center of the second reflection rod are located on the same straight line. The center of a right headlamp of the to-be-calibrated vehicle and the center of the third reflection rod are located on the same straight line. Gradienters are mounted in the left headlamp and the right headlamp. According to the invention, the laser radar in the headlamp can be calibrated.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar calibration, and in particular to a calibration system and method for a laser radar headlamp. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect target position, speed and other characteristic quantities. As a standard automotive-grade component of a vehicle, headlights take into account both the beauty and functionality of the vehicle. With the emergence of smart headlights, the intelligentization and perception of lamps are also a trend in the future. The integration of sensing devices and lamps has become a new development direction for future headlights. At present, there are two installation schemes for LiDAR: one is to place the LiDAR in a fixed mold opening area on the top of the vehicle body to form a protrusion in a specific area, and the other is to place the LiDAR behind the windshield in the cabin. These two methods can calibrate the LiDAR through the traditional dynamic calibration method, by taking a certain action trajectory of the vehicle or the radar making different degrees of direction changes, so as to calculate the data of the adjustment parameters, or can be carried out through the static calibration method of fixed scenes, but these two calibration methods are based on the above two installation methods. After the LiDAR is installed in the headlight, the installation position of the LiDAR has undergone an important change, from the traditional middle position of the vehicle to the sides of the vehicle body, which cannot be achieved by either the single radar or the dual radar calibration scheme. Summary of the invention

[0003] The technical problem to be solved by the present invention is: in order to solve the technical problem that the prior art cannot calibrate the laser radar in the headlight, the present invention provides a calibration system for the laser radar headlight, which can calibrate the laser radar in the headlight.

[0004] The technical solution adopted by the present invention to solve its technical problem is: a calibration system for laser radar headlights, the system comprising: a vehicle fixing device, four reflective plates and three reflective rods; the four reflective plates and the three reflective rods are all arranged longitudinally in front of the vehicle fixing device, and a reflective rod is arranged between two adjacent reflective plates, the four reflective plates and the three reflective rods are all used to reflect radar waves emitted by left and right headlight laser radars; the three reflective rods are respectively a first reflective rod, a second reflective rod and a third reflective rod. During calibration, the vehicle to be calibrated is fixed in position to the vehicle fixing device, the center of the left headlight of the vehicle to be calibrated is in a straight line with the center of the first reflective rod, the center of the vehicle to be calibrated is in a straight line with the center of the second reflective rod, and the center of the right headlight of the vehicle to be calibrated is in a straight line with the center of the third reflective rod; a level is installed in the left headlight and the right headlight.

[0005] Further, specifically, reflective stickers are pasted on the four reflective plates; the four reflective plates are respectively a first reflective plate, a second reflective plate, a third reflective plate and a fourth reflective plate;

[0006] Further, specifically, the reflectivity of the first reflective plate is the same as that of the third reflective plate, and the reflectivity of the second reflective plate is the same as that of the fourth reflective plate.

[0007] Preferably, the first reflector and the third reflector are Lambertian reflectors with a reflectivity of 10%, and the corresponding reflective stickers have a reflectivity of 90%; the second reflector and the fourth reflector are Lambertian reflectors with a reflectivity of 90%, and the corresponding reflective stickers have a reflectivity of 10%.

[0008] Further, specifically, a first reflective sticker is pasted on the center of the first reflective plate; a second reflective sticker and a third reflective sticker are pasted on the center of the second reflective plate and near the right edge of the second reflective plate, respectively, and the second reflective sticker and the third reflective sticker are on the same straight line; a fourth reflective sticker and a fifth reflective sticker are pasted on the center of the third reflective plate and near the left edge of the third reflective plate, respectively, and the fourth reflective sticker and the fifth reflective sticker are on the same straight line; a sixth reflective sticker is pasted on the center of the fourth reflective plate; a seventh reflective sticker, an eighth reflective sticker and a ninth reflective sticker are pasted on the centers of the first reflective rod, the second reflective rod and the third reflective rod, respectively.

[0009] Further, specifically, the size of each of the reflection rods is 1000mm*50mm.

[0010] A calibration method for a laser radar headlamp, the method comprising the following steps:

[0011] S1, scene calibration, obtaining the position of the headlight according to the calibrated vehicle model, calibrating each calibration point in the vehicle coordinate system, the left headlight coordinate system and the right headlight coordinate system, and obtaining the coordinates of all the calibration points;

[0012] S2, calibrating the laser radar of the left and right headlights, fixing the position of the vehicle to be calibrated on the vehicle fixing device, obtaining the level meter information and point cloud information of the laser radar of the left and right headlights, and calibrating the laser radar of the left headlight and the laser radar of the right headlight respectively according to the coordinates of the calibration points corresponding to the point cloud information;

[0013] S3, error correction, obtains the point cloud of the left and right headlight radars relative to the center range of the vehicle to be calibrated, and stitches the point cloud based on the whole vehicle coordinate system to calibrate the left and right headlight radars.

[0014] Further, specifically, the step S1 specifically includes the following steps:

[0015] Taking the laser radar of the left headlamp as the origin A, the coordinates of the calibration points at the center positions of the first reflector, the second reflector and the first reflector rod are calibrated based on the left headlamp coordinate system. The coordinates of the calibration point A21 at the center position of the first reflector are (x21, y21, z21), the coordinates of the calibration point A23 at the center position of the second reflector are (x23, y23, z23), and the coordinates of the calibration point A22 at the center position of the reflector rod are (x22, y22, z22);

[0016] The laser radar of the left headlight is used as the origin A to calibrate the coordinates of the calibration points at the center of the first reflector, the second reflector and the first reflector rod. The calibration point A at the center of the first reflector 21 The coordinates are (x 21 ,y 21 ,z 21 ), the calibration point A at the center of the second reflector 23 The coordinates are (x 23 ,y 23 ,z 23 ), the calibration point A at the center of the first reflective rod 22 The coordinates are (x 22 ,y 22 ,z 22 );

[0017] Taking the laser radar of the right headlight as the origin C, the coordinates of the calibration points at the center positions of the third reflector, the fourth reflector and the third reflector rod are calibrated based on the right headlight coordinate system. The calibration point A at the center position of the third reflector 31 The coordinates are (x 31 ,y 31 ,z 31 ), the calibration point A at the center of the fourth reflector 33 The coordinates are (x 33 ,y 33 ,z 33 ), the calibration point A at the center of the third reflective rod 32 The coordinates are (x 32 ,y 32 ,z 32 );

[0018] Take the center point of the connecting line of the left headlight laser radar and the right headlight laser radar as the origin B, and calibrate the coordinates of the calibration points at the right edge of the second reflector, the left edge of the third reflector, and the center position of the second reflector rod based on the vehicle coordinate system. The calibration point A at the right edge of the second reflector 11 The coordinates are (x 11 ,y 11 ,z 11 ), the calibration point A at the center of the second reflective rod 13The coordinates are (x 13 ,y 13 ,z 13 ), the calibration point A at the left edge of the third reflector 12 The coordinates are (x 12 ,y 12 ,z 12 ).

[0019] Further, specifically, the step S2 specifically includes the following steps:

[0020] S21, placing the vehicle to be calibrated on a vehicle fixing device, and fixing the position of the vehicle to be calibrated by the vehicle fixing device;

[0021] S22, obtaining the level meter information of the laser radar of the left headlight, and writing the rotation angle row around the X axis and the rotation angle pitch around the Y axis of the vehicle-mounted laser radar obtained by reading into the rotation matrix of the left headlight laser radar, so that the left headlight laser radar is in a horizontal state relative to the X axis and the Y axis;

[0022] S23, turn on the laser radar of the left headlight, obtain the point cloud information of the laser radar of the left headlight, and obtain the calibration point A 21 The actual coordinate B in the LiDAR point cloud image of the left headlight 21 (x 24 ,y 24 , z 24 ), get the calibration point A 22 The actual coordinate B in the LiDAR point cloud image of the left headlight 22 (x 25 ,y 25 , z 25 ), get the calibration point A 23 The actual coordinate B of the laser radar of the left headlight 23 (x 26 ,y 26 , z 26 );

[0023] S24, calculate z within 100 frames 26 -z 23 The mean of the difference is obtained to obtain the offset of the left headlight laser radar in the Z-axis direction, and the rotation matrix of the left headlight laser radar in step S22 is refreshed to obtain the matching Z-axis coordinates. 23 The actual coordinate B in the LiDAR point cloud image of the left headlight 23 (x 26 ,y 26 , z 26 ) and calibration point A 23 (x 23 ,y 23 , z23 ) to compare and calculate x within 100 frames 26 -x 23 The mean and y of the differences 26 -y 23 The mean of the difference is written into the rotation matrix of the refreshed left headlight lidar to obtain the new differential area coordinate C 21 (x 24 ,y 24 , z 21 ) and C 22 (x 25 ,y 25 , z 22 ), according to C 21 (x 24 ,y 24 , z 21 ) and C 22 (x 25 ,y 25 , z 22 ) Calculate the degree of the rotation angle yaw of the rotation matrix of the left headlight laser radar around the Z axis, obtain the calibrated left headlight laser radar external parameter matrix, and complete the calibration of the left headlight laser radar;

[0024] S25, obtaining the level meter information of the laser radar of the right headlight, and writing the rotation angle row around the X axis and the rotation angle pitch around the Y axis of the vehicle-mounted laser radar obtained by reading into the rotation matrix of the right headlight laser radar, so that the right headlight laser radar is in a horizontal state relative to the X axis and the Y axis;

[0025] S26, turn on the laser radar of the right headlight, obtain the point cloud information of the laser radar of the right headlight, and obtain the calibration point A 31 The actual coordinate B in the LiDAR point cloud image of the right headlight 31 (x 34 ,y 34 , z 34 ), get the calibration point A 32 The actual coordinate B in the LiDAR point cloud image of the right headlight 32 (x 35 ,y 35 , z 35 ), get the calibration point A 33 The actual coordinate B of the laser radar of the right headlight 33 (x 36 ,y 36 , z 36 );

[0026] S27, calculate z within 100 frames 36 -z 33The mean of the difference is obtained to obtain the offset of the laser radar of the right headlight in the Z-axis direction, and the rotation matrix of the right headlight laser radar in step S25 is refreshed to obtain the matching Z-axis coordinates. 33 The actual coordinate B in the LiDAR point cloud image of the right headlight 33 (x 36 ,y 36 , z 36 ) and calibration point A 33 (x 33 ,y 33 , z 33 ) to compare and calculate x within 100 frames 36 -x 33 The mean and y of the differences 36 -y 33 The mean of the difference is written into the refreshed rotation matrix of the right headlight lidar to obtain the new differential area coordinate C 31 (x 34 ,y 34 , z 31 ) and C 32 (x 35 ,y 35 , z 32 ), according to C 31 (x 34 ,y 34 , z 31 ) and C 32 (x 35 ,y 35 , z 32 ) Calculate the degree of the rotation angle yaw of the rotation matrix of the right headlight lidar around the Z axis, obtain the calibrated right headlight lidar external parameter matrix, and complete the calibration of the right headlight lidar.

[0027] Further, specifically, the step S3 specifically includes the following steps:

[0028] S31, obtaining the laser radar calibration point A of the left headlight at the right edge of the second reflector 24 Coordinate (x 27 ,y 27 ,z 27 ,row,pitch,yaw 27 ) and the third reflector left edge calibration point A 25 Coordinate (x 28 ,y 28 ,z 28 ,row,pitch,yaw 28 ), read the rotation angle yaw 27 and the rotation angle yaw 28 , obtain the coordinate range of the vehicle center ROI area;

[0029] S32, obtaining a calibration point A of the right headlight laser radar at the right edge of the second reflector 34 Coordinate (x 37 ,y 37 ,z 37 ,row,pitch,yaw 37 ) and the third reflector left edge calibration point A 35 Coordinate (x 38 ,y 38 ,z 38 ,row,pitch,yaw 38 ), read the rotation angle yaw 37 and the rotation angle yaw 38 , obtain the coordinate range of the vehicle center ROI area;

[0030] S33, the rotation angle yaw 27 and the rotation angle yaw 28 Fitted to the vehicle coordinate system, the fitted coordinates are A 14 (x 14 ,y 14 ,z 14 ), A 16 (x 16 ,y 16 ,z 16 ), A 15 (x 15 ,y 15 ,z 15 ), calculate z within 100 frames 16 -z 13 The mean of the difference is calculated to calculate x within 100 frames. 16 -x 13 and 16 -y 13 The mean of is used to obtain the offset in three dimensions after fitting, which can compensate for the offset of the left headlight LiDAR in the vehicle coordinate system and complete the calibration of the left headlight LiDAR.

[0031] S34, the rotation angle yaw 37 and the rotation angle yaw 38 Fitted to the vehicle coordinate system, the fitted coordinates are A 17 (x 17 ,y 17 ,z 17 ), A 19 (x 19 ,y 19 ,z 19 ), A 18 (x 18 ,y 18 ,z18 ), calculate z within 100 frames 19 -z 13 The mean of the difference is calculated to calculate x within 100 frames. 19 -x 13 and 19 -y 13 The mean of is used to obtain the offset in three dimensions after fitting, to compensate for the offset of the right headlight LiDAR in the vehicle coordinate system, and to complete the calibration of the right headlight LiDAR.

[0032] The beneficial effect of the present invention is that the calibration system for laser radar headlights of the present invention adopts a fixed scene, saves the space required for calibration, and reduces costs. And through the cooperation between the four reflectors and the reflector rod, the laser radar in the headlight can be calibrated, and the field of view difference caused by the installation position of the laser radar can be avoided through calibration, thereby expanding the field of view effect of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0034] Figure 1 It is a schematic diagram of the system structure of the first embodiment of the present invention.

[0035] Figure 2 It is a schematic diagram of the position of the reflective sticker according to the first embodiment of the present invention.

[0036] Figure 3 It is a schematic diagram of the method flow of embodiment 2 of the present invention.

[0037] In the figure, 1 is a vehicle fixing device; 2 is a first reflective rod; 3 is a second reflective rod; 4 is a third reflective rod; 5 is a first reflective plate; 6 is a second reflective plate; 7 is a third reflective plate; 8 is a fourth reflective plate; 9 is a first reflective sticker; 10 is a second reflective sticker; 11 is a third reflective sticker; 12 is a fourth reflective sticker; 13 is a fifth reflective sticker; 14 is a sixth reflective sticker; 15 is a seventh reflective sticker; 16 is an eighth reflective sticker; 17 is a ninth reflective sticker. DETAILED DESCRIPTION

[0038] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] Example 1

[0042] The present application embodiment provides a calibration system for a laser radar headlamp, such as Figure 1 As shown, the system includes: a vehicle fixing device 1, four reflective plates, and three reflective rods; the four reflective plates and the three reflective rods are longitudinally arranged in front of the vehicle fixing device 1, and a reflective rod is arranged between two adjacent reflective plates, and the four reflective plates and the three reflective rods are used to reflect the radar waves emitted by the left and right headlight laser radars; the three reflective rods are respectively a first reflective rod 2, a second reflective rod 3 and a third reflective rod 4. During calibration, the vehicle to be calibrated is fixed to the vehicle fixing device 1, the center of the left headlight of the vehicle to be calibrated is in a straight line with the center of the first reflective rod 2, the center of the vehicle to be calibrated is in a straight line with the center of the second reflective rod 3, and the center of the right headlight of the vehicle to be calibrated is in a straight line with the center of the third reflective rod 4; a level is installed in the left headlight and the right headlight, and the level is used to measure the rotation angles of the left headlight and the right headlight in the X-axis and Y-axis directions.

[0043] In the embodiment, reflective stickers are attached to the four reflective plates; the four reflective plates are respectively the first reflective plate 5, the second reflective plate 6, the third reflective plate 7 and the fourth reflective plate 8; the reflectivity of the first reflective plate 5 and the third reflective plate 7 is the same, and the reflectivity of the second reflective plate 6 and the fourth reflective plate 8 is the same. Further, the first reflective plate 5 and the third reflective plate 7 are Lambertian reflective plates with a reflectivity of 10%, and the reflectivity of the corresponding reflective stickers is 90%; the second reflective plate 6 and the fourth reflective plate 8 are Lambertian reflective plates with a reflectivity of 90%, and the reflectivity of the corresponding reflective stickers is 10%.

[0044] In the embodiment, the first reflective sticker 9 is pasted on the center of the first reflective plate 5; the second reflective sticker 10 and the third reflective sticker 11 are pasted on the center of the second reflective plate 6 and the right edge of the second reflective plate 6, respectively, and the second reflective sticker 10 and the third reflective sticker 11 are on the same straight line; the fourth reflective sticker 12 and the fifth reflective sticker 13 are pasted on the center of the third reflective plate 7 and the left edge of the third reflective plate 7, respectively, and the fourth reflective sticker 12 and the fifth reflective sticker 13 are on the same straight line; the sixth reflective sticker 14 is pasted on the center of the fourth reflective plate 8; the seventh reflective sticker 15, the eighth reflective sticker 16 and the ninth reflective sticker 17 are pasted on the centers of the first reflective rod 2, the second reflective rod 3 and the third reflective rod 4, respectively. When the laser beam emitted by the laser radar passes through the set reflective stickers, it can present different colors, which is convenient for the identification of the calibration point.

[0045] In an embodiment, each reflective rod has a size of 1000 mm*50 mm.

[0046] Example 2

[0047] Based on the same inventive concept as the calibration system for a laser radar headlamp in the aforementioned embodiment, the embodiment of the present application provides a calibration method for a laser radar headlamp, the method comprising the following steps:

[0048] S1, scene calibration, obtain the position of the headlight according to the calibrated vehicle model, calibrate each calibration point in the vehicle coordinate system, the left headlight coordinate system and the right headlight coordinate system, and obtain the coordinates of all calibration points; if the vehicle to be calibrated and the laser radar model have not changed, no secondary calibration is required after calibration. Figure 1 As shown, the calibration site requires a fixed area.

[0049] S2, calibrating the laser radar of the left and right headlights, fixing the position of the vehicle to be calibrated on the vehicle fixing device 1, obtaining the level information and point cloud information of the laser radar of the left and right headlights, and calibrating the left headlight laser radar and the right headlight laser radar respectively based on the coordinates of the calibration points corresponding to the point cloud information.

[0050] S3, error correction, obtains the point cloud of the left and right headlight radars relative to the center range of the vehicle to be calibrated, and stitches the point cloud based on the whole vehicle coordinate system to calibrate the left and right headlight radars.

[0051] In an embodiment, step S1 specifically includes the following steps:

[0052] Taking the laser radar of the left headlight as the origin A, the coordinates of the calibration points at the center positions of the first reflector 5, the second reflector 6 and the first reflector rod 2 are calibrated based on the left headlight coordinate system. The coordinates of the calibration point A21 at the center position of the first reflector 5 are (x21, y21, z21), the coordinates of the calibration point A23 at the center position of the second reflector 6 are (x23, y23, z23), and the coordinates of the calibration point A22 at the center position of the reflector rod are (x22, y22, z22).

[0053] The laser radar of the left headlight is used as the origin A to calibrate the coordinates of the calibration points at the center of the first reflector 5, the second reflector 6 and the first reflector rod 2. The calibration point A at the center of the first reflector 5 (at the first reflective sticker 9) 21 The coordinates are (x 21 ,y 21 ,z 21 ), the calibration point A at the center of the second reflective plate 6 (at the second reflective sticker 10) 23 The coordinates are (x 23 ,y 23 ,z 23 ), the calibration point A at the center of the first reflective rod 2 (at the seventh reflective sticker 15) 22 The coordinates are (x 22 ,y 22 ,z 22 ).

[0054] Taking the laser radar of the right headlight as the origin C, the coordinates of the calibration points at the center positions of the third reflector 7, the fourth reflector 8 and the third reflector rod 4 are calibrated based on the right headlight coordinate system. The calibration point A at the center position of the third reflector 7 (at the third reflective sticker 11) 31 The coordinates are (x 31 ,y 31 ,z 31 ), the calibration point A at the center of the fourth reflector 8 (the sixth reflective sticker 14) 33 The coordinates are (x 33 ,y 33 ,z 33 ), the calibration point A at the center of the third reflective rod 4 (the ninth reflective sticker 17) 32 The coordinates are (x 32 ,y 32 ,z 32).

[0055] The center point of the laser radar connecting the left headlight and the right headlight is taken as the origin B. The coordinates of the calibration points at the right edge of the second reflector 6, the left edge of the third reflector 7 and the center position of the second reflector rod 3 are calibrated based on the vehicle coordinate system. The calibration point A at the right edge of the second reflector 6 (at the third reflective sticker 11) is 11 The coordinates are (x 11 ,y 11 ,z 11 ), the calibration point A at the center of the second reflective rod 3 (at the eighth reflective sticker 16) 13 The coordinates are (x 13 ,y 13 ,z 13 ), the calibration point A at the left edge of the third reflector 7 (at the fifth reflective sticker 13) 12 The coordinates are (x 12 ,y 12 ,z 12 ).

[0056] In an embodiment, step S2 specifically includes the following steps:

[0057] S21, placing the vehicle to be calibrated on the vehicle fixing device 1, and fixing the position of the vehicle to be calibrated by the vehicle fixing device 1;

[0058] S22, obtain the level information of the laser radar of the left headlight, write the read rotation angle row around the X-axis and the rotation angle pitch around the Y-axis of the vehicle-mounted laser radar into the rotation matrix of the left headlight laser radar, so that the left headlight laser radar is in a horizontal state relative to the X-axis and the Y-axis.

[0059] S23, turn on the laser radar of the left headlight, obtain the point cloud information of the laser radar of the left headlight, and obtain the calibration point A 21 The actual coordinate B in the LiDAR point cloud image of the left headlight 21 (x 24 ,y 24 , z 24 ), get the calibration point A 22 The actual coordinate B in the LiDAR point cloud image of the left headlight 22 (x 25 ,y 25 , z 25 ), get the calibration point A 23 The actual coordinate B of the laser radar of the left headlight 23 (x 26 ,y 26 , z 26 ).

[0060] S24, calculate z within 100 frames 26 -z 23 The mean of the difference is obtained to obtain the offset of the left headlight laser radar in the Z-axis direction, and the rotation matrix of the left headlight laser radar in step S22 is refreshed to obtain the matching Z-axis coordinates. 23 The actual coordinate B in the LiDAR point cloud image of the left headlight 23 (x 26 ,y 26 , z 26 ) and calibration point A 23 (x 23 ,y 23 , z 23 ) to compare and calculate x within 100 frames 26 -x 23 The mean and y of the differences 26 -y 23 The mean of the difference is written into the rotation matrix of the refreshed left headlight lidar to obtain the new differential area coordinate C 21 (x 24 ,y 24 , z 21 ) and C 22 (x 25 ,y 25 , z 22 ), according to C 21 (x 24 ,y 24 , z 21 ) and C 22 (x 25 ,y 25 , z 22 ) Calculate the degree of the rotation angle yaw of the rotation matrix of the left headlight lidar around the Z axis, obtain the calibrated left headlight lidar external parameter matrix, and complete the calibration of the left headlight lidar.

[0061] S25, obtain the level information of the laser radar of the right headlight, write the rotation angle row around the X-axis and the rotation angle pitch around the Y-axis of the vehicle-mounted laser radar read into the rotation matrix of the right headlight laser radar, so that the right headlight laser radar is in a horizontal state relative to the X-axis and the Y-axis.

[0062] S26, turn on the laser radar of the right headlight, obtain the point cloud information of the laser radar of the right headlight, and obtain the calibration point A 31 The actual coordinate B in the LiDAR point cloud image of the right headlight 31 (x 34 ,y 34 , z 34 ), get the calibration point A 32The actual coordinate B in the LiDAR point cloud image of the right headlight 32 (x 35 ,y 35 , z 35 ), get the calibration point A 33 The actual coordinate B of the laser radar of the right headlight 33 (x 36 ,y 36 , z 36 ).

[0063] S27, calculate z within 100 frames 36 -z 33 The mean of the difference is obtained to obtain the offset of the laser radar of the right headlight in the Z-axis direction, and the rotation matrix of the right headlight laser radar in step S25 is refreshed to obtain the matching Z-axis coordinates. 33 The actual coordinate B in the LiDAR point cloud image of the right headlight 33 (x 36 ,y 36 , z 36 ) and calibration point A 33 (x 33 ,y 33 , z 33 ) to compare and calculate x within 100 frames 36 -x 33 The mean and y of the differences 36 -y 33 The mean of the difference is written into the refreshed rotation matrix of the right headlight lidar to obtain the new differential area coordinate C 31 (x 34 ,y 34 , z 31 ) and C 32 (x 35 ,y 35 , z 32 ), according to C 31 (x 34 ,y 34 , z 31 ) and C 32 (x 35 ,y 35 , z 32 ) Calculate the degree of the rotation angle yaw of the rotation matrix of the right headlight lidar around the Z axis, obtain the calibrated right headlight lidar external parameter matrix, and complete the calibration of the right headlight lidar.

[0064] In an embodiment, step S3 specifically includes the following steps:

[0065] S31, obtain the laser radar calibration point A of the left headlight at the right edge of the second reflector 6 24Coordinate (x 27 ,y 27 ,z 27 ,row,pitch,yaw 27 ) and the third reflector 7 at the left edge of the calibration point A 25 Coordinate (x 28 ,y 28 ,z 28 ,row,pitch,yaw 28 ), read the rotation angle yaw 27 and the rotation angle yaw 28 , get the coordinate range of the ROI area in the center of the vehicle; the lidar has been leveled before calibration, so the row and pitch angles in the coordinates are 0°.

[0066] S32, obtaining the calibration point A of the right headlight laser radar at the right edge of the second reflector 6 34 Coordinate (x 37 ,y 37 ,z 37 ,row,pitch,yaw 37 ) and the third reflector 7 at the left edge of the calibration point A 35 Coordinate (x 38 ,y 38 ,z 38 ,row,pitch,yaw 38 ), read the rotation angle yaw 37 and the rotation angle yaw 38 , get the coordinate range of the vehicle center ROI area.

[0067] S33, the rotation angle yaw 27 and the rotation angle yaw 28 Fitted to the vehicle coordinate system, the fitted coordinates are A 14 (x 14 ,y 14 ,z 14 ), A 16 (x 16 ,y 16 ,z 16 ), A 15 (x 15 ,y 15 ,z 15 ), calculate z within 100 frames 16 -z 13 The mean of the difference is calculated to calculate x within 100 frames. 16 -x 13 and 16 -y 13The mean of is used to obtain the offset in three dimensions after fitting, which can compensate for the offset of the left headlight LiDAR in the vehicle coordinate system and complete the calibration of the left headlight LiDAR.

[0068] S34, the rotation angle yaw 37 and the rotation angle yaw 38 Fitted to the vehicle coordinate system, the fitted coordinates are A 17 (x 17 ,y 17 ,z 17 ), A 19 (x 19 ,y 19 ,z 19 ), A 18 (x 18 ,y 18 ,z 18 ), calculate z within 100 frames 19 -z 13 The mean of the difference is calculated to calculate x within 100 frames. 19 -x 13 and 19 -y 13 The mean of is used to obtain the offset in three dimensions after fitting, to compensate for the offset of the right headlight LiDAR in the vehicle coordinate system, and to complete the calibration of the right headlight LiDAR.

[0069] It should be noted that if the laser radar of a single headlight is to be calibrated, only steps S22 to S24 or steps S25 to S27 need to be executed.

[0070] The calibration system and calibration method for the laser radar headlamp of this embodiment adopts a fixed scene, saves the space required for calibration, and reduces the cost. And through the cooperation between the four reflectors and the reflector rod, the laser radar in the headlamp can be calibrated, and the field of view difference caused by the installation position of the laser radar can be avoided through calibration, thereby expanding the field of view effect of the laser radar.

[0071] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A calibration system for laser radar headlights, characterized in that: The system comprises: a vehicle fixing device (1), four reflective plates and three reflective rods; The four reflecting plates and the three reflecting rods are arranged longitudinally in front of the vehicle fixing device (1), and a reflecting rod is arranged between two adjacent reflecting plates. The four reflecting plates and the three reflecting rods are used to reflect radar waves emitted by the left and right headlamp laser radars. The three reflective rods are respectively a first reflective rod (2), a second reflective rod (3) and a third reflective rod (4). During calibration, the vehicle to be calibrated is fixed to the vehicle fixing device (1) so that the center of the left headlight of the vehicle to be calibrated and the center of the first reflective rod (2) are in a straight line, the center of the vehicle to be calibrated and the center of the second reflective rod (3) are in a straight line, and the center of the right headlight of the vehicle to be calibrated and the center of the third reflective rod (4) are in a straight line. Level meters are installed in the left headlamp and the right headlamp.

2. The laser radar headlamp calibration system according to claim 1, characterized in that: Reflective stickers are pasted on the four reflective boards; The four reflection plates are respectively a first reflection plate (5), a second reflection plate (6), a third reflection plate (7) and a fourth reflection plate (8).

3. The laser radar headlamp calibration system according to claim 2, characterized in that: The reflectivity of the first reflecting plate (5) and the third reflecting plate (7) is the same, and the reflectivity of the second reflecting plate (6) and the fourth reflecting plate (8) is the same.

4. The calibration system for a laser radar headlamp according to claim 3, characterized in that: The first reflector (5) and the third reflector (7) are Lambertian reflectors with a reflectivity of 10%, and the reflectivity of the corresponding reflective sticker is 90%; The second reflector (6) and the fourth reflector (8) are Lambertian reflectors with a reflectivity of 90%, and the reflectivity of the corresponding reflective stickers is 10%.

5. The calibration system for a laser radar headlamp according to claim 4, characterized in that: A first reflective sticker (9) is pasted on the center of the first reflective plate (5); A second reflective sticker (10) and a third reflective sticker (11) are respectively pasted on the center of the second reflective plate (6) and near the right edge of the second reflective plate (6), and the second reflective sticker (10) and the third reflective sticker (11) are on the same straight line; A fourth reflective sticker (12) and a fifth reflective sticker (13) are respectively pasted on the center of the third reflective plate (7) and near the left edge of the third reflective plate (7), and the fourth reflective sticker (12) and the fifth reflective sticker (13) are on the same straight line; A sixth reflective sticker (14) is pasted on the center of the fourth reflective plate (8); A seventh reflective sticker (15), an eighth reflective sticker (16) and a ninth reflective sticker (17) are respectively attached to the centers of the first reflective rod (2), the second reflective rod (3) and the third reflective rod (4).

6. The laser radar headlamp calibration system according to claim 1, characterized in that: The size of each reflective rod is 1000mm*50mm.

7. A calibration method for a laser radar headlamp, characterized in that: The method comprises the following steps: S1, scene calibration, obtaining the position of the headlight according to the calibrated vehicle model, calibrating each calibration point in the vehicle coordinate system, the left headlight coordinate system and the right headlight coordinate system, and obtaining the coordinates of all the calibration points; S2, calibrating the laser radar of the left and right headlights, fixing the position of the vehicle to be calibrated on the vehicle fixing device (1), obtaining the level meter information and point cloud information of the laser radar of the left and right headlights, and calibrating the laser radar of the left headlight and the laser radar of the right headlight respectively based on the coordinates of the calibration points corresponding to the point cloud information; S3, error correction, obtains the point cloud of the left and right headlight radars relative to the center range of the vehicle to be calibrated, and stitches the point cloud based on the whole vehicle coordinate system to calibrate the left and right headlight radars.

8. The calibration method for a laser radar headlamp according to claim 7, characterized in that: The step S1 specifically includes the following steps: Taking the laser radar of the left headlight as the origin A, the coordinates of the calibration points at the center positions of the first reflector (5), the second reflector (6) and the first reflector rod (2) are calibrated based on the left headlight coordinate system, the coordinates of the calibration point A21 at the center position of the first reflector (5) are (x21, y21, z21), the coordinates of the calibration point A23 at the center position of the second reflector (6) are (x23, y23, z23), and the coordinates of the calibration point A22 at the center position of the reflector rod are (x22, y22, z22); The laser radar of the left headlight is used as the origin A to calibrate the coordinates of the calibration points at the center positions of the first reflector (5), the second reflector (6) and the first reflector rod (2). The calibration point A at the center position of the first reflector (5) is 21 The coordinates are (x 21 ,y 21 ,z 21 ), a calibration point A at the center of the second reflector (6) 23 The coordinates are (x 23 ,y 23 ,z 23 ), a calibration point A at the center of the first reflective rod (2) 22 The coordinates are (x 22 ,y 22 ,z 22 ); Taking the laser radar of the right headlight as the origin C, the coordinates of the calibration points at the center positions of the third reflector (7), the fourth reflector (8) and the third reflector rod (4) are calibrated based on the right headlight coordinate system. The calibration point A at the center position of the third reflector (7) is 31 The coordinates are (x 31 ,y 31 ,z 31 ), a calibration point A at the center of the fourth reflector (8) 33 The coordinates are (x 33 ,y 33 ,z 33 ), a calibration point A at the center of the third reflective rod (4) 32 The coordinates are (x 32 ,y 32 ,z 32 ); The center point of the connecting line of the laser radar of the left headlight and the laser radar of the right headlight is taken as the origin B, and the coordinates of the calibration points at the right edge of the second reflector (6), the left edge of the third reflector (7) and the center position of the second reflector rod (3) are calibrated based on the vehicle coordinate system. The calibration point A at the right edge of the second reflector (6) 11 The coordinates are (x 11 ,y 11 ,z 11 ), a calibration point A at the center of the second reflective rod (3) 13 The coordinates are (x 13 ,y 13 ,z 13 ), the calibration point A at the left edge of the third reflector (7) 12 The coordinates are (x 12 ,y 12 ,z 12 ).

9. The calibration method for a laser radar headlamp according to claim 8, characterized in that: The step S2 specifically includes the following steps: S21, placing the vehicle to be calibrated on a vehicle fixing device (1), and fixing the position of the vehicle to be calibrated by the vehicle fixing device (1); S22, obtaining the level meter information of the laser radar of the left headlight, and writing the rotation angle row around the X axis and the rotation angle pitch around the Y axis of the vehicle-mounted laser radar obtained by reading into the rotation matrix of the left headlight laser radar, so that the left headlight laser radar is in a horizontal state relative to the X axis and the Y axis; S23, turn on the laser radar of the left headlight, obtain the point cloud information of the laser radar of the left headlight, and obtain the calibration point A 21 The actual coordinate B in the LiDAR point cloud image of the left headlight 21 (x 24 ,y 24 , z 24 ), get the calibration point A 22 The actual coordinate B in the LiDAR point cloud image of the left headlight 22 (x 25 ,y 25 , z 25 ), get the calibration point A 23 The actual coordinate B of the laser radar of the left headlight 23 (x 26 ,y 26 , z 26 ); S24, calculate z within 100 frames 26 -z 23 The mean of the difference is obtained to obtain the offset of the left headlight laser radar in the Z-axis direction, and the rotation matrix of the left headlight laser radar in step S22 is refreshed to obtain the matching Z-axis coordinates. 23 The actual coordinate B in the LiDAR point cloud image of the left headlight 23 (x 26 ,y 26 , z 26 ) and calibration point A 23 (x 23 ,y 23 , z 23 ) to compare and calculate x within 100 frames 26 -x 23 The mean and y of the differences 26 -y 23 The mean of the difference is written into the rotation matrix of the refreshed left headlight lidar to obtain the new differential area coordinate C 21 (x 24 ,y 24 , z 21 ) and C 22 (x 25 ,y 25 , z 22 ), according to C 21 (x 24 ,y 24 , z 21 ) and C 22 (x 25 ,y 25 , z 22 ) Calculate the degree of the rotation angle yaw of the rotation matrix of the left headlight laser radar around the Z axis, obtain the calibrated left headlight laser radar external parameter matrix, and complete the calibration of the left headlight laser radar; S25, obtaining the level meter information of the laser radar of the right headlight, and writing the rotation angle row around the X axis and the rotation angle pitch around the Y axis of the vehicle-mounted laser radar obtained by reading into the rotation matrix of the right headlight laser radar, so that the right headlight laser radar is in a horizontal state relative to the X axis and the Y axis; S26, turn on the laser radar of the right headlight, obtain the point cloud information of the laser radar of the right headlight, and obtain the calibration point A 31 The actual coordinate B in the LiDAR point cloud image of the right headlight 31 (x 34 ,y 34 , z 34 ), get the calibration point A 32 The actual coordinate B in the LiDAR point cloud image of the right headlight 32 (x 35 ,y 35 , z 35 ), get the calibration point A 33 The actual coordinate B of the laser radar of the right headlight 33 (x 36 ,y 36 , z 36 ); S27, calculate z within 100 frames 36 -z 33 The mean of the difference is obtained to obtain the offset of the laser radar of the right headlight in the Z-axis direction, and the rotation matrix of the right headlight laser radar in step S25 is refreshed to obtain the matching Z-axis coordinates. 33 The actual coordinate B in the LiDAR point cloud image of the right headlight 33 (x 36 ,y 36 , z 36 ) and calibration point A 33 (x 33 ,y 33 , z 33 ) to compare and calculate x within 100 frames 36 -x 33 The mean and y of the differences 36 -y 33 The mean of the difference is written into the refreshed rotation matrix of the right headlight lidar to obtain the new differential area coordinate C 31 (x 34 ,y 34 , z 31 ) and C 32 (x 35 ,y 35 , z 32 ), according to C 31 (x 34 ,y 34 , z 31 ) and C 32 (x 35 ,y 35 , z 32 ) Calculate the degree of the rotation angle yaw of the rotation matrix of the right headlight lidar around the Z axis, obtain the calibrated right headlight lidar external parameter matrix, and complete the calibration of the right headlight lidar.

10. The calibration method for a laser radar headlamp according to claim 8, characterized in that: The step S3 specifically comprises the following steps: S31, obtaining the laser radar calibration point A of the left headlight at the right edge of the second reflector (6) 24 Coordinate (x 27 ,y 27 ,z 27 ,row,pitch,yaw 27 ) and the third reflector (7) at the left edge of the mark point A 25 Coordinate (x 28 ,y 28 ,z 28 ,row,pitch,yaw 28 ), read the rotation angle yaw 27 and the rotation angle yaw 28 , obtain the coordinate range of the vehicle center ROI area; S32, obtaining the calibration point A of the right headlight laser radar at the right edge of the second reflector (6) 34 Coordinate (x 37 ,y 37 ,z 37 ,row,pitch,yaw 37 ) and the third reflector (7) at the left edge of the mark point A 35 Coordinate (x 38 ,y 38 ,z 38 ,row,pitch,yaw 38 ), read the rotation angle yaw 37 and the rotation angle yaw 38 , obtain the coordinate range of the vehicle center ROI area; S33, the rotation angle yaw 27 and the rotation angle yaw 28 Fitted to the vehicle coordinate system, the fitted coordinates are A 14 (x 14 ,y 14 ,z 14 ), A 16 (x 16 ,y 16 ,z 16 ), A 15 (x 15 ,y 15 ,z 15 ), calculate z within 100 frames 16 -z 13 The mean of the difference is calculated to calculate x within 100 frames. 16 -x 13 and 16 -y 13 The mean of is used to obtain the offset in three dimensions after fitting, which can compensate for the offset of the left headlight LiDAR in the vehicle coordinate system and complete the calibration of the left headlight LiDAR. S34, the rotation angle yaw 37 and the rotation angle yaw 38 Fitted to the vehicle coordinate system, the fitted coordinates are A 17 (x 17 ,y 17 ,z 17 ), A 19 (x 19 ,y 19 ,z 19 ), A 18 (x 18 ,y 18 ,z 18 ), calculate z within 100 frames 19 -z 13 The mean of the difference is calculated to calculate x within 100 frames. 19 -x 13 and 19 -y 13 The mean of is used to obtain the offset in three dimensions after fitting, to compensate for the offset of the right headlight LiDAR in the vehicle coordinate system, and to complete the calibration of the right headlight LiDAR.

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