Roadside Unit Radar Calibration Using Point Cloud Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods for calibrating intelligent roadside units, such as GPS, fail to meet the high accuracy requirements for automatic driving, especially when combined with radar systems, as they do not effectively determine the precise location and orientation of sensors like radars and cameras.
Innovation Solution
A method involving an intelligent driving vehicle within a preset range of the roadside unit, using point clouds from radars to match and align the sensor positions through rotation and translation, determining the location relation between radars and cameras, and adjusting angles to achieve accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS is used to obtain the location of the intelligent roadside unit, then the location can be obtained, but the accuracy does not meet the requirements of automatic driving
Solution Approach 1:
The patent introduces point cloud data as an intermediary to establish a relationship between the roadside unit radar and the vehicle radar. By matching feature points in the point clouds obtained from both radars, the system determines the location and orientation of the roadside unit relative to the vehicle, thereby achieving high-precision positioning that satisfies automatic driving requirements.
2Adaptability or versatility
If radar systems are added to improve active sensing ability, then sensing capability is enhanced, but the precise location and orientation of sensors become difficult to determine
Solution Approach 1:
The patent employs a feedback mechanism where the roadside unit radar detects the vehicle, obtains point cloud data, and matches feature points with the vehicle radar's point cloud. This feedback loop allows the system to iteratively refine the location and orientation information of the roadside unit sensors, making precise determination achievable despite the added complexity of multiple radar systems.
Data Source
Figure 1~2
Figure 3~4
Figure 5~6
AI summary
The present disclosure proposes a method, an apparatus, a device, and a medium for calibrating an intelligent roadside unit. The method includes: obtaining an intelligent driving vehicle within a preset range of the intelligent roadside unit; obtaining a first point cloud detected by a first radar in the intelligent driving vehicle, and obtaining location information of the intelligent driving vehicle; obtaining a second point cloud detected by a second radar in the intelligent roadside unit; and obtaining location information of the second radar based on the first point cloud, the second point cloud, and the location information of the intelligent driving vehicle.