CN-122015908-A - Vehicle-mounted sensor calibration method, system, electronic equipment and storage medium

CN122015908ACN 122015908 ACN122015908 ACN 122015908ACN-122015908-A

Abstract

The application provides a vehicle-mounted sensor calibration method, a system, electronic equipment and a storage medium, and relates to the field of intelligent driving; when the vibration acceleration is larger than the preset acceleration, vibration spectrum analysis is carried out based on the triaxial acceleration data, a compensation matrix of the vehicle-mounted sensor is calculated based on the result of the vibration spectrum analysis, and the external parameter matrix of the vehicle-mounted sensor is updated according to the compensation matrix. The method provided by the application is beneficial to improving the calibration precision of the vehicle-mounted sensor.

Inventors

ZHAI YU
LI JUN
HOU CHUAN
SHAO XIAOBO

Assignees

重庆瑞驰汽车实业有限公司

Dates

Publication Date: 20260512
Application Date: 20260122

Claims (10)

1. A method for calibrating an in-vehicle sensor, the method comprising: Acquiring detection data of an inertial measurement unit, wherein the detection data comprises vibration acceleration and triaxial acceleration data; When the vibration acceleration is larger than a preset acceleration, vibration spectrum analysis is performed based on the triaxial acceleration data; calculating a compensation matrix of the vehicle-mounted sensor based on the result of the vibration spectrum analysis; and updating the external parameter matrix of the vehicle-mounted sensor according to the compensation matrix.
2. The method of claim 1, wherein performing vibration spectrum analysis based on the tri-axial acceleration data comprises: denoising, filtering and Fourier transforming the triaxial acceleration data to obtain power spectrum density; calculating vibration energy of a vibration frequency band based on the power spectral density; Formant detection is performed based on the power spectral density to identify a resonant frequency.
3. The method of claim 2, wherein the compensation matrix includes a rotation compensation amount and a translation compensation amount, and the calculating the compensation matrix of the in-vehicle sensor based on the result of the vibration spectrum analysis includes: Calculating the rotation compensation quantity according to the disturbance mapping relation between the resonance frequency and the angle; Calculating the translation compensation amount based on the vibration energy of the vibration frequency band; And calculating a compensation matrix of the vehicle-mounted sensor based on the rotation compensation amount and the translation compensation amount.
4. The method of claim 2, wherein after the updating of the extrinsic matrix of the in-vehicle sensor according to the compensation matrix, the method further comprises: Calculating weighted vibration energy of the vibration frequency band based on the power spectral density and a weighted function of the vibration frequency band; And updating the time offset of the inertial measurement unit relative to the vehicle-mounted sensor based on the weighted vibration energy and the vibration acceleration amplitude of the vibration frequency band.
5. The method according to claim 1, wherein the method further comprises: Acquiring temperature information of the vehicle-mounted sensor, wherein the temperature information comprises a temperature change rate and a temperature change amount; and when the temperature change rate is larger than a preset temperature change rate, performing temperature compensation on the external parameter matrix of the vehicle-mounted sensor based on the temperature change quantity.
6. The method according to claim 1, wherein the method further comprises: receiving a fault code, wherein the fault code comprises a first fault code, a second fault code and a third fault code; when the fault code is a first fault code, determining that the fault type is insufficient laser power, and the corresponding solution is to check a power supply or replace a laser module; When the fault code is a second fault code, determining that the fault type is that the data of the inertial measurement unit is out of tolerance, and the corresponding solution is to recalibrate or replace the inertial measurement unit; And when the fault code is a third fault code, determining that the fault type is communication overtime, and checking CAN terminal resistance according to the corresponding solution.
7. The method according to any one of claims 1 to 6, wherein, The vehicle-mounted sensor comprises a camera, a laser radar and a millimeter wave radar.
8. An electronic device comprising a processor and a memory for storing a computer program, the processor being configured to run the computer program to implement the method of calibrating an in-vehicle sensor according to any of claims 1-6.
9. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the in-vehicle sensor calibration method according to any one of claims 1-6.
10. An in-vehicle sensor calibration system, the system comprising: An inertial measurement unit, an active calibration target integrating checkerboard encoding with a laser array, and an electronic device as claimed in claim 8.

Description

Vehicle-mounted sensor calibration method, system, electronic equipment and storage medium Technical Field The application relates to the technical field of intelligent driving, in particular to a vehicle-mounted sensor calibration method, a vehicle-mounted sensor calibration system, electronic equipment and a storage medium. Background The vehicle-mounted sensor mainly comprises a laser radar, a millimeter wave radar, a camera and the like, in the related art, the calibration of the vehicle-mounted sensor is mostly achieved by adopting a mechanical clamp for time-sharing calibration, the time consumption is long, and the vehicle-mounted sensor cannot compensate vehicle vibration errors due to the fact that the vehicle-mounted sensor depends on a fixed platform, so that the calibration precision of the vehicle-mounted sensor is low. Disclosure of Invention The application provides a vehicle-mounted sensor calibration method, a system, electronic equipment and a storage medium, which are beneficial to improving the calibration precision of a vehicle-mounted sensor. In a first aspect, the present application provides a method for calibrating a vehicle-mounted sensor, including: acquiring detection data of an inertial measurement unit, wherein the detection data comprises vibration acceleration and triaxial acceleration data; when the vibration acceleration is larger than the preset acceleration, performing vibration spectrum analysis based on the triaxial acceleration data; Calculating a compensation matrix of the vehicle-mounted sensor based on a result of the vibration spectrum analysis; and updating the external parameter matrix of the vehicle-mounted sensor according to the compensation matrix. In one possible implementation manner, the vibration spectrum analysis based on the triaxial acceleration data includes: Denoising, filtering and Fourier transforming the triaxial acceleration data to obtain power spectrum density; Calculating vibration energy of a vibration frequency band based on the power spectral density; formant detection is performed based on the power spectral density to identify the resonant frequency. In one possible implementation, the compensation matrix includes a rotation compensation amount and a translation compensation amount, and calculating the compensation matrix of the vehicle sensor based on a result of the vibration spectrum analysis includes: calculating a rotation compensation quantity according to a disturbance mapping relation between the resonance frequency and the angle; Calculating a translation compensation amount based on the vibration energy of the vibration frequency band; the compensation matrix of the in-vehicle sensor is calculated based on the rotation compensation amount and the translational compensation amount. In one possible implementation manner, after updating the extrinsic matrix of the vehicle-mounted sensor according to the compensation matrix, the method further includes: calculating weighted vibration energy of the vibration frequency band based on the power spectral density and the weighted function of the vibration frequency band; And updating the time offset of the inertial measurement unit relative to the vehicle-mounted sensor based on the weighted vibration energy and the vibration acceleration amplitude of the vibration frequency band. In one possible implementation manner, the method further includes: acquiring temperature information of a vehicle-mounted sensor, wherein the temperature information comprises a temperature change rate and a temperature change quantity; and when the temperature change rate is larger than the preset temperature change rate, performing temperature compensation on the external parameter matrix of the vehicle-mounted sensor based on the temperature change quantity. In one possible implementation manner, the method further includes: Receiving a fault code, wherein the fault code comprises a first fault code, a second fault code and a third fault code; When the fault code is the first fault code, determining that the fault type is insufficient laser power, and the corresponding solution is to check a power supply or replace a laser module; When the fault code is the second fault code, determining that the fault type is that the data of the inertial measurement unit is out of tolerance, and the corresponding solution is to recalibrate or replace the inertial measurement unit; When the fault code is a third fault code, the fault type is determined to be communication overtime, and the corresponding solution is to check CAN terminal resistance. In one possible implementation, the vehicle-mounted sensor includes a camera, a lidar, and a millimeter wave radar. In a second aspect, the application provides an electronic device comprising a processor and a memory, the memory being for storing a computer program, the processor being for running the computer program to implement the method for calibrating an in-vehicle sensor