CN114521267A - Sensing method and system for anti-shake stabilizer of vehicle - Google Patents
Sensing method and system for anti-shake stabilizer of vehicle Download PDFInfo
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- CN114521267A CN114521267A CN202080068827.XA CN202080068827A CN114521267A CN 114521267 A CN114521267 A CN 114521267A CN 202080068827 A CN202080068827 A CN 202080068827A CN 114521267 A CN114521267 A CN 114521267A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
A sensing method and a system for an anti-shake stabilizer of a vehicle are provided, wherein the vehicle is static when a sensor is calibrated, the suspension is ensured to be in a stable state, and the anti-shake stabilizer is also in the stable state. Carrying out static physical and software correction to obtain a calibration parameter in a standard state; and judging the three-dimensional relative spatial position relationship between the sensor and the vehicle reference point and the three-dimensional relative orientation angle relationship. And converting the data in the coordinate system of the sensing equipment into data in a vehicle body coordinate system or a global coordinate system according to the calibration result, and acquiring the position information of each obstacle in the vehicle body coordinate system or the global coordinate system.
Description
The invention belongs to the technical field of vehicle data information sensing, and particularly relates to a sensing method and system for a vehicle anti-shake stabilizer.
The vehicle's sensing sensor (camera) is often mounted at a relatively high position of the vehicle due to the field of view requirements. It is often desirable for a truck to be mounted near the nose of the truck, such as near the top edge of the windshield.
The truck head is often provided with a relatively soft air suspension so as to ensure the body feeling of passengers and drivers
Thus, the sensor is mounted behind the soft air suspension and at a greater distance from the rigid body portion of the vehicle body, and the flutter of the suspension is amplified at the sensor. There is a very bad influence on the sensing result. Because it is difficult for the sensor to determine whether the angle of the vehicle has actually changed or whether it is merely the noise caused by the suspension of the vehicle, there is no effective way in the prior art to eliminate the above-mentioned effects.
Disclosure of Invention
In view of the above, to solve the technical problems in the background art, the present invention provides a sensing method and system for a vehicle anti-shake stabilizer.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a vehicle anti-shake stabilizer sensing method comprises the following steps:
installing an anti-shake stabilizer at a corresponding position of a truck head, and then installing sensing equipment on the anti-shake stabilizer;
the vehicle is static, the suspension and the anti-shake stabilizer are both in a stable state, sensor calibration is carried out on the sensing equipment, and static physical and software correction is carried out to obtain a calibration parameter in a standard state;
judging a three-dimensional relative spatial position relationship and a three-dimensional relative orientation angle relationship between the sensing device and the vehicle reference point;
and converting the data in the coordinate system of the sensing equipment into data in a vehicle body coordinate system or a global coordinate system according to the calibration result, and acquiring the position information of each obstacle in the vehicle body or the global coordinate system.
Preferably, the vehicle reference point is a vehicle center of mass or a vehicle rear axle center.
As a preferred technical solution, the method for calibrating a sensor specifically includes the following steps:
a third-party surveying and mapping tool is introduced,
the observation process is as follows:
T world_point＝T world_imuT imu_lidarT lidar_point
in the formula (I), the compound is shown in the specification,
T world_pointthe matrix represents the global pose of a certain characteristic and is precisely measured by using a third-party mapping tool;
T world_imuthe IMU is a matrix which represents the pose of the IMU at the moment in a world coordinate system and is calculated by integrated navigation;
T world_pointthe matrix represents the pose under the coordinate system of the sensing equipment and is directly measured by the sensing equipment;
T imu_lidaris a matrix which represents the calibration parameters of the sensor;
in the equation only Timu_lidarUnknown, and by acquiring multiple groups of observation data, and constructing and solving an equation set, the sensor calibration parameters of the sensing equipment can be obtained.
As a preferred technical solution, the third party surveying and mapping tool is a total station.
The application of the sensing method as described above when the vehicle is moving on a horizontal road surface.
A sensing system of a vehicle anti-shake stabilizer comprises the anti-shake stabilizer which is arranged at a corresponding position of a truck head, and sensing equipment is arranged on the anti-shake stabilizer; the device also comprises a sensor calibration unit and a coordinate conversion unit;
the sensor calibration unit is used for:
the vehicle is static, the suspension and the anti-shake stabilizer are both in a stable state, sensor calibration is carried out on the sensing equipment, and static physical and software correction is carried out to obtain a calibration parameter in a standard state; judging the three-dimensional relative spatial position relation and the three-dimensional relative orientation angle relation between the sensing equipment and the vehicle reference point;
the coordinate conversion unit is used for:
and converting the data in the coordinate system of the sensing equipment into data in a vehicle body coordinate system or a global coordinate system according to the calibration result, and acquiring the position information of each obstacle in the vehicle body or the global coordinate system.
Preferably, the sensor calibration unit includes a third party mapping tool and a calculation unit, and the calculation unit obtains T by calculation according to the following formulaimu_lidar：
T world_point＝T world_imuT imu_lidarT lidar_point
In the formula (I), the compound is shown in the specification,
T world_pointthe matrix represents the global pose of a certain characteristic and is precisely measured by using a third-party mapping tool;
T world_imuthe IMU is a matrix which represents the pose of the IMU at the moment in a world coordinate system and is calculated by integrated navigation;
T world_pointis a matrix which represents the pose under the coordinate system of the sensing equipment and is directly measured by the sensing equipment;
T imu_lidaris a matrix which represents the calibration parameters of the sensor;
by collecting multiple groups of observation data, the calculation unit constructs and solves an equation set, and sensor calibration parameters of the sensing equipment can be obtained.
As a preferred technical solution, the third party surveying and mapping tool is a total station.
Preferably, the vehicle reference point is a vehicle center of mass or a vehicle rear axle center.
A truck is fitted with a vehicle anti-shake stabilizer sensing system as described above.
Has the advantages that: the invention provides a vehicle anti-shake stabilizer sensing method and a system thereof, wherein in the moving process of a vehicle, even if the air suspension changes when the sensing is calculated and converted, the relative orientation of a sensor is relatively stable without compensation due to the relationship of a stabilizer, and the position can be ignored because the influence of the change is relatively small. This is because the orientation is wrong, and when sensing a long-distance obstacle, the angle error x distance causes a large difference in sensing result, and the position change does not have the problem. Therefore, all errors can be considered to be eliminated, and the position can be directly converted through the calibration parameters in the standard state. Therefore, the influence of other factors such as noise caused by vehicle suspension can be eliminated, and the accuracy of a sensing result is improved.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive exercise.
Fig. 1 is a flowchart of a sensing method for an anti-shake stabilizer of a vehicle according to the present invention.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The examples are given for the purpose of better illustration of the invention, but the invention is not limited to the examples. Therefore, those skilled in the art should make insubstantial modifications and adaptations to the embodiments of the present invention in light of the above teachings and remain within the scope of the invention.
Example 1: sensing method for anti-shake stabilizer of vehicle
Please refer to fig. 1, which illustrates a method for sensing a vehicle anti-shake stabilizer, comprising the following steps:
s100: installing an anti-shake stabilizer at a corresponding position of a truck head, and then installing sensing equipment on the anti-shake stabilizer;
s200: the vehicle is static, the suspension and the anti-shake stabilizer are both in a stable state, sensor calibration is carried out on the sensing equipment, and static physical and software correction is carried out to obtain a calibration parameter in a standard state;
s300: judging a three-dimensional relative spatial position relationship and a three-dimensional relative orientation angle relationship between the sensing device and the vehicle reference point;
s400: and converting the data in the coordinate system of the sensing equipment into data in a vehicle body coordinate system or a global coordinate system according to the calibration result, and acquiring the position information of each obstacle in the vehicle body or the global coordinate system.
According to the embodiment of the invention, the vehicle reference point is the center of mass of the vehicle or the center of a rear axle of the vehicle.
In the embodiment of the invention, the sensor calibration method specifically comprises the following steps:
a third-party surveying and mapping tool is introduced,
the observation process is as follows:
T world_point＝T world_imuT imu_lidarT lidar_point
in the formula (I), the compound is shown in the specification,
T world_pointprecisely measuring the global pose of a certain feature by using a third-party mapping tool;
T world_imucalculating the pose of the IMU at the moment in a world coordinate system through integrated navigation;
T world_pointthe feature is the pose under the coordinate system of the sensing equipment, which is directly measured by the sensing equipment;
T imu_lidarcalibrating parameters for the sensor;
in the equation only Timu_lidarUnknown, and by acquiring multiple groups of observation data, and constructing and solving an equation set, the sensor calibration parameters of the sensing equipment can be obtained.
In the moving process of the vehicle, when the sensing is converted in a calculation mode, even if the air suspension changes, the relative orientation of the sensor is relatively stable without compensation due to the relation of the stabilizer, and the position can be ignored due to relatively small influence of the change (the orientation is wrong, when a long-distance obstacle is sensed, the distance of an angle error x can cause a large difference of sensing results, and the position change cannot have the problem). Therefore, all errors can be considered to be eliminated, and the position can be directly converted through the calibration parameters in the standard state.
The invention mainly aims at the situation that the main vehicle is in a horizontal road surface form.
Example 2: sensing system of anti-shake stabilizer for vehicle
The embodiment of the invention relates to a sensing system of an anti-shake stabilizer of a vehicle, which comprises the anti-shake stabilizer arranged at the corresponding position of the head of the truck, and sensing equipment arranged on the anti-shake stabilizer; the device also comprises a sensor calibration unit and a coordinate conversion unit;
the sensor calibration unit is used for:
the vehicle is static, the suspension and the anti-shake stabilizer are both in a stable state, sensor calibration is carried out on the sensing equipment, and static physical and software correction is carried out to obtain a calibration parameter in a standard state; judging the three-dimensional relative spatial position relation and the three-dimensional relative orientation angle relation between the sensing equipment and the vehicle reference point;
the coordinate conversion unit is used for:
and converting the data in the coordinate system of the sensing equipment into data in a vehicle body coordinate system or a global coordinate system according to the calibration result, and acquiring the position information of each obstacle in the vehicle body or the global coordinate system.
The sensor calibration unit comprises a first sensorA trilateral surveying tool and a calculation unit, said calculation unit calculating T according to the following formulaimu_lidar：
T world_point＝T world_imuT imu_lidarT lidar_point
In the formula (I), the compound is shown in the specification,
T world_pointprecisely measuring the global pose of a certain feature by using a third-party surveying and mapping tool;
T world_imucalculating the pose of the IMU at the moment in a world coordinate system through integrated navigation;
T world_pointthe feature is the pose under the coordinate system of the sensing equipment, which is directly measured by the sensing equipment;
T imu_lidarcalibrating parameters for the sensor;
by collecting multiple groups of observation data, the calculation unit constructs and solves an equation set, and sensor calibration parameters of the sensing equipment can be obtained.
And the introduced third-party surveying and mapping tool is a total station.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/116142 WO2022056820A1 (en) | 2020-09-18 | 2020-09-18 | Sensing method and system for anti-shake stabilizer of vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN114521267A true CN114521267A (en) | 2022-05-20 |
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| CN202080068827.XA Pending CN114521267A (en) | 2020-09-18 | 2020-09-18 | Sensing method and system for anti-shake stabilizer of vehicle |
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| CN (1) | CN114521267A (en) |
| WO (1) | WO2022056820A1 (en) |
Citations (7)
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Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606127A (en) * | 2016-01-11 | 2016-05-25 | 北京邮电大学 | Calibration method for relative attitude of binocular stereo camera and inertial measurement unit |
-
2020
- 2020-09-18 WO PCT/CN2020/116142 patent/WO2022056820A1/en not_active Ceased
- 2020-09-18 CN CN202080068827.XA patent/CN114521267A/en active Pending
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| US20170299404A1 (en) * | 2016-04-13 | 2017-10-19 | Caterpillar Inc. | Methods and systems for calibrating sensors |
| CN106981082A (en) * | 2017-03-08 | 2017-07-25 | 驭势科技（北京）有限公司 | Vehicle-mounted camera scaling method, device and mobile unit |
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| CN110155080A (en) * | 2019-05-22 | 2019-08-23 | 北京百度网讯科技有限公司 | Sensor stabilization control method, device, stabilizer and medium |
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| WO2022056820A1 (en) | 2022-03-24 |
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Application publication date: 20220520 |