CN118226418A

CN118226418A - External parameter calibration method, device and equipment of laser radar and storage medium

Info

Publication number: CN118226418A
Application number: CN202410160273.6A
Authority: CN
Inventors: 黎佳剑; 常骐川; 吴涛
Original assignee: SAIC GM Wuling Automobile Co Ltd
Current assignee: SAIC GM Wuling Automobile Co Ltd
Priority date: 2024-02-04
Filing date: 2024-02-04
Publication date: 2024-06-21

Abstract

The embodiment of the application provides an external parameter calibration method, device and equipment of a laser radar and a storage medium, wherein the method comprises the following steps: controlling the vehicle to automatically drive according to the calibration track; after the vehicle runs a first preset distance, a first deviation value of the vehicle and a calibration track is obtained; and calibrating the first yaw angle of the laser radar according to the first deviation value. In the embodiment of the application, the first deviation value of the vehicle and the calibration track is obtained after the vehicle runs a first preset distance according to the calibration track by utilizing the automatic driving technology of the vehicle. Since the first deviation value is generated by inaccurate calibration of the external parameter of the laser radar, the external parameter (i.e., the first yaw angle) of the laser radar can be calibrated according to the first deviation value. Because the automatic driving function of the vehicle is utilized and only one calibration track is needed in the test environment, the application has the characteristics of short time consumption, high precision and low requirement on the test environment.

Description

External parameter calibration method, device and equipment of laser radar and storage medium

Technical Field

The application relates to the technical field of radars, in particular to an external parameter calibration method, device and equipment of a laser radar and a storage medium.

Background

Lidar refers to a radar system that detects a characteristic quantity such as a position, a speed, etc. of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is emitted to a target, then a received signal (target echo) reflected from the target is compared with the emission signal, and after proper processing, the related information of the target, such as parameters of the distance, the azimuth, the altitude, the speed, the gesture, the even the shape and the like of the target, can be obtained. The laser radar is an important sensor in the fields of obstacle detection and tracking or three-dimensional map construction in automatic driving of vehicles by virtue of the characteristics of high precision, high resolution, high reliability and the like. The external parameter calibration of the laser radar is to acquire pose information of the laser radar relative to the vehicle (namely, position information and pose information of the laser radar relative to the vehicle), and further fuse the pose information of the laser radar relative to the vehicle with functional modules such as a global positioning system, an inertial navigation system and a camera after the pose information of the laser radar relative to the vehicle is calibrated, so that local perception and global positioning of the vehicle can be realized. In the prior art, laser radar is usually calibrated by a static calibration scheme or a dynamic calibration scheme.

The external parameter calibration of the laser radar by adopting a static calibration scheme mainly comprises the following steps. Firstly, placing an obstacle in front of the center of a vehicle; then, using relevant visualized software to observe the point cloud acquired by the laser radar; finally, a worker calibrates the external parameters of the laser radar by observing the acquired point cloud position and the starting position (namely, the position corresponding to 0 DEG) in the laser radar scanning image.

The external parameter calibration of the laser radar by adopting a dynamic calibration scheme mainly comprises the following steps. Firstly, controlling a vehicle to run; then, matching a first running track of the vehicle obtained through a global positioning system with a second track of the vehicle obtained through using the recorded laser radar data; finally, the hand-eye model is utilized to carry out hand-eye calibration on the first running track and the second running track of the vehicle, and further calibration on external parameters of the laser radar is achieved.

However, with the static calibration scheme, since the obstacle needs to be placed in front of the vehicle, many other related devices are needed, which makes the operation troublesome and time-consuming, and at the same time, since the calibration of the final laser radar external parameter is realized by assistance of the visual software and the staff, that is, the accuracy of the laser radar external parameter calibration is related to the human eyes, the calibration of the laser radar may not be accurate; by using a dynamic calibration scheme, two tracks are required to be determined by using a global positioning system and a laser radar, so that the global positioning system is required to perform positioning tracking conveniently in a non-shielded environment, and a driving area is required to have a characteristic environment so as to facilitate the laser radar to scan the surrounding environment, and the calibration method has high environmental requirements.

It should be noted that the information disclosed in the background section of the present application is only for enhancement of understanding of the general background of the present application and should not be taken as an admission or any form of suggestion that this information forms the prior art that is well known to a person skilled in the art.

Disclosure of Invention

In view of the above, the present application provides an external parameter calibration method, device, equipment and storage medium for a laser radar, so as to solve the problems of long time consumption, low precision and high environmental requirements in the prior art when the laser radar is calibrated.

In a first aspect, an embodiment of the present application provides a method for calibrating an external parameter of a laser radar, where the laser radar is installed on a vehicle, and the external parameter includes a yaw angle, and the method includes:

controlling the vehicle to automatically drive according to a calibration track, and determining a course angle of the vehicle according to a first yaw angle of the laser radar in the automatic driving process;

after the vehicle runs a first preset distance, a first deviation value of the vehicle and the calibration track is obtained;

And calibrating the first yaw angle of the laser radar according to the first deviation value.

In the embodiment of the application, the first deviation value of the vehicle and the calibration track is obtained after the vehicle runs a first preset distance according to the calibration track by utilizing the automatic driving technology of the vehicle. Since the first deviation value is generated by inaccurate calibration of the external parameter of the laser radar, the external parameter (i.e., the first yaw angle) of the laser radar can be calibrated according to the first deviation value. Because the automatic driving function of the vehicle is utilized and only one calibration track is needed in the test environment, the application has the characteristics of short time consumption, high precision and low requirement on the test environment.

In a possible implementation manner, the external parameters further include position information, and before the controlling the vehicle to automatically drive according to the calibration track, the method further includes:

Receiving measured position information of the laser radar relative to the vehicle, which is input by a user;

and calibrating the position information of the laser radar according to the measured position information.

In the embodiment of the application, the external parameters of the laser radar also comprise the external parameter calibration of the laser radar, and the position information of the laser radar is required to be calibrated. The laser radar position information can be calibrated by receiving the laser radar measured position information input by a user relative to the vehicle, so that the laser radar external parameters can be accurately calibrated. The position information refers to the spatial position of the laser radar relative to the vehicle.

In a possible implementation manner, the external parameters further include a roll angle and a pitch angle, and before the controlling the vehicle automatically drives according to a calibration track, the method further includes:

Receiving a measured roll angle and a measured pitch angle of the lidar relative to the vehicle, which are input by a user;

And calibrating the roll angle and the pitch angle of the laser radar according to the measured roll angle and the measured pitch angle.

In the embodiment of the application, the external parameters of the laser radar also comprise the roll angle and the pitch angle, and the roll angle and the pitch angle of the laser radar are required to be calibrated for calibrating the external parameters of the laser radar. The rolling angle and the pitch angle of the laser radar are calibrated according to the measured rolling angle and the measured pitch angle, so that the external parameters of the laser radar are accurately calibrated.

In one possible implementation manner, the obtaining the first deviation value of the vehicle and the calibration track after the vehicle travels the first preset distance includes:

Acquiring a plurality of initial first deviation values of the vehicle and the calibration track in the process of driving the vehicle for a first preset distance;

and averaging the initial first deviation values to obtain a first deviation value of the vehicle and the calibration track.

In the embodiment of the application, the first deviation values are determined by acquiring the initial first deviation values in the process of driving the vehicle for the first preset distance and taking the average value of the initial first deviation values, so that the determined first deviation values are more accurate, inaccuracy of the first deviation values due to other reasons, such as vehicle shake and the like, is reduced, the correction of the laser radar is more accurate, and the accuracy of the external parameter calibration of the laser radar is improved.

In one possible implementation, the calibrating the first yaw angle of the lidar according to the first deviation value includes:

Judging whether the absolute value of the first deviation value is larger than or equal to a preset deviation value threshold value or not;

And if the absolute value of the first deviation value is greater than or equal to a preset deviation value threshold, calibrating the first yaw angle of the laser radar according to the first deviation value.

In the embodiment of the application, the deviation value threshold is preset, and the preset deviation value threshold is compared with the absolute value of the first deviation value, so that the first yaw angle of the laser radar is calibrated, and the efficiency of calibrating the external parameters of the vehicle is improved conveniently.

Determining an offset direction of the vehicle according to the first deviation value, wherein the offset direction is used for representing that the yaw angle of the laser radar is offset towards positive direction or negative direction;

Performing direction adjustment opposite to the offset direction on the first yaw angle according to the offset direction to obtain a second yaw angle;

Controlling the vehicle to automatically drive according to the calibration track, and determining a course angle of the vehicle according to the second yaw angle of the laser radar in the automatic driving process;

After the vehicle runs a second preset distance, judging whether the vehicle is in a stable state, wherein the stable state is used for representing that the running route of the vehicle meets the expected requirement;

And calibrating the first yaw angle of the laser radar according to the second yaw angle if the vehicle is in a stable state.

In the embodiment of the application, the offset direction of the vehicle is determined through the first deviation value, the first yaw angle is adjusted in the direction opposite to the offset direction according to the offset direction, the automatic driving of the vehicle is utilized again to verify whether the current heading angle of the vehicle meets the expectations, and if the vehicle is in a stable state, the first yaw angle of the laser radar is calibrated according to the second yaw angle. The laser radar is calibrated more accurately through calibrating the external parameters of the laser radar for a plurality of times.

In one possible implementation, the method further includes:

And if the vehicle is not in a stable state, the second yaw angle is used as the first yaw angle of the laser radar, and the external parameters of the laser radar are recalibrated.

In the embodiment of the application, if the vehicle is not in a stable state, the second yaw angle is used as the first yaw angle of the laser radar, and the external parameters of the laser radar are recalibrated, so that the laser radar is calibrated for multiple times, and the accuracy of the laser radar external parameter calibration is improved.

In one possible implementation manner, the determining whether the vehicle is in a stable state after the vehicle travels a second preset distance includes:

after the vehicle runs a second preset distance, a second deviation value of the vehicle and the calibration track is obtained;

If the absolute value of the second deviation value is smaller than a preset deviation value threshold value, determining that the vehicle is in a stable state;

And if the absolute value of the second deviation value is greater than or equal to the deviation value threshold value, determining that the vehicle is not in a stable state.

In the embodiment of the application, the second deviation value determined after the vehicle runs for the second preset distance is compared with the deviation value threshold value, so that whether the vehicle is in a stable state or not is determined, and the accuracy of laser radar external parameter calibration is improved.

In a possible implementation manner, the adjusting the first yaw angle according to the offset direction in a direction opposite to the offset direction to obtain a second yaw angle includes:

and according to the offset direction, adjusting the first yaw angle in a direction opposite to the offset direction according to a preset first adjustment amplitude to obtain a second yaw angle.

In the embodiment of the application, the first yaw angle is adjusted in the direction opposite to the offset direction according to the preset first adjustment amplitude, and the second yaw angle is obtained. And when the deviation is generated, the first yaw angle is adjusted according to the preset first adjustment amplitude, so that the algorithm implementation difficulty of related staff is reduced.

Determining a second adjustment amplitude according to the first deviation value, wherein the second adjustment amplitude is positively correlated with the first deviation value;

and according to the offset direction, adjusting the first yaw angle in a direction opposite to the offset direction according to the second adjustment amplitude to obtain a second yaw angle.

In the embodiment of the application, the second adjustment amplitude is determined according to the first deviation value, and then the first yaw angle is adjusted in the direction opposite to the offset direction according to the second adjustment amplitude, so that the second yaw angle is obtained. The laser radar external parameter calibration method is beneficial to reducing the external parameter calibration time of the laser radar and improving the calibration efficiency.

In one possible implementation, the calibration track is a straight line.

In the embodiment of the application, when the calibration track is a straight line, the vehicle only needs to control the running straight line, the operation is simple, and the test environment is convenient to find, so that the calibration efficiency is improved.

In a second aspect, an embodiment of the present application provides an external parameter calibration device of a laser radar, where the laser radar is installed on a vehicle, and the external parameter includes a yaw angle, including:

The automatic driving control module is used for controlling the vehicle to automatically drive according to the calibration track, and in the automatic driving process, the vehicle determines the course angle of the vehicle according to the first yaw angle of the laser radar;

the deviation value acquisition module is used for acquiring a first deviation value of the vehicle and the calibration track after the vehicle runs a first preset distance;

And the yaw angle calibration module is used for calibrating the first yaw angle of the laser radar according to the first deviation value.

In a third aspect, an embodiment of the present application provides an electronic device, including:

A processor;

A memory;

And a computer program, wherein the computer program is stored in the memory, the computer program comprising instructions that, when executed by the processor, cause the electronic device to perform the method of any of the first aspects.

In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, where the computer readable storage medium includes a stored program, where the program when executed controls a device in which the computer readable storage medium is located to perform the method of any one of the first aspects.

It will be appreciated that the external parameter calibration device of the laser radar provided in the second aspect, the electronic device provided in the third aspect and the computer readable storage medium provided in the fourth aspect are all used to execute the method provided in the present application. Therefore, the advantages achieved by the method can be referred to as the advantages of the corresponding method, and will not be described herein.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application.

Fig. 2 is a schematic diagram of an application scenario of external parameter calibration provided in the related art.

Fig. 3 is a schematic diagram of another application scenario of external parameter calibration provided in the related art.

Fig. 4 is a diagram of an external parameter calibration method of a laser radar according to an embodiment of the present application.

Fig. 5 is a schematic view of a scenario for laser radar location information calibration according to an embodiment of the present application.

Fig. 6 is a schematic view of a scenario of laser radar first yaw calibration according to an embodiment of the present application.

Fig. 7 is a schematic diagram of another external parameter calibration method of a lidar according to an embodiment of the present application.

Fig. 8 is a schematic structural diagram of an external parameter calibration device of a laser radar according to an embodiment of the present application.

Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application

Detailed Description

For a better understanding of the technical solution of the present application, the following detailed description of the embodiments of the present application refers to the accompanying drawings.

It should be understood that the described embodiments are merely some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely one way of describing an association of associated objects, meaning that there may be three relationships, e.g., a and/or b, which may represent: the first and second cases exist separately, and the first and second cases exist separately. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

The laser radar is an important sensor in the fields of obstacle detection and tracking or three-dimensional map construction and the like in automatic driving of vehicles by virtue of the characteristics of high precision, high resolution, high reliability and the like. The external parameter calibration of the laser radar is to acquire pose information of the laser radar relative to the vehicle (namely, position information and pose information of the laser radar relative to the vehicle), and further fuse the pose information of the laser radar relative to the vehicle with functional modules such as a global positioning system, an inertial navigation system and a camera after the pose information of the laser radar relative to the vehicle is calibrated, so that local perception and global positioning of the vehicle can be realized. The position information refers to the position of the laser radar relative to the vehicle, namely the transverse position, the longitudinal position and the vertical position of the laser radar relative to the vehicle; the attitude information is the attitude of the lidar relative to the vehicle, i.e., the yaw angle, pitch angle, and roll angle of the lidar relative to the vehicle.

Referring to fig. 1, a schematic view of an application scenario is provided in an embodiment of the present application. As shown in fig. 1, a side view (1) and a top view (2) of a vehicle 101 are shown, wherein a lidar 102 is included on the roof of the vehicle 101. It can be understood that calibrating the external parameters of the lidar 102 is to calibrate the position information and the attitude information of the lidar 102 relative to the vehicle 101.

It should be noted that the location of the lidar and the number of lidars shown in fig. 1 are only an exemplary description, and those skilled in the art may adjust the location of the lidar and the number of lidars according to actual needs, which is not particularly limited by the present application. Meanwhile, the types of the lidar and the vehicle shown in fig. 1 are not particularly limited, and those skilled in the art can be two-dimensional lidar, three-dimensional lidar, etc. according to actual needs, and the types of the vehicle can be cars, trucks, etc. the application is not particularly limited.

In the related art, the laser radar is usually calibrated by a static calibration scheme or a dynamic calibration scheme.

The external parameter calibration of the laser radar by adopting a static calibration scheme mainly comprises the following steps. Firstly, an obstacle is placed in front of the center of a vehicle, for convenience of understanding, refer to fig. 2, and a schematic view of an application scenario of external parameter calibration is provided for related technology. As shown in fig. 2, a side view (1) of the vehicle 101 during external parameter calibration and a plan view (2) of the vehicle 101 during external parameter calibration are shown, and an obstacle 201 and a road surface 202 are also shown on the basis of fig. 1. Wherein the vehicle 101 and the obstacle 201 are located on the road surface 202. Dashed line portion 203 in fig. 2 is used to characterize the lidar scanning range. Arrow 204 in fig. 2 (2) is used to indicate that the lidar begins scanning from a zero degree position 205 of the yaw angle.

In practical application, as shown in fig. 2, firstly, the obstacle 201 is located in front of the center of the vehicle 101, then, the point cloud information of the obstacle 201 collected by the laser radar 102 is sent to a related visualization software device, and a worker calibrates the external parameters of the laser radar by observing the collected point cloud position and the starting position (i.e. the position corresponding to 0 °) in the laser radar scanning image.

For ease of understanding, referring to fig. 3, another application scenario diagram of external parameter calibration is provided for the related art. As shown in fig. 3, a computer 301 is shown, wherein a visualization software interface 302 is displayed on a display screen of the computer 301. The visualization software interface 302 specifically includes a lidar scan 303 and a point cloud 304 of obstacles. It can be appreciated that when the longitudinal straight line in the lidar scan 303 is used to characterize the position of the starting position in the lidar scan image, since the obtained point cloud 304 of the obstacle is located at the left side of the starting position in the lidar scan image, the initial yaw angle of the laser can be determined to be far to the right, and thus calibration of the lidar external parameters can be achieved.

It should be noted that the above solution is only for calibration of the yaw angle in the lidar external parameter. This is because the yaw angle in the lidar parameters tends to determine the direction of travel of the vehicle, and therefore the calibration of the lidar yaw angle is more demanding.

However, with static calibration schemes, since it is necessary to place an obstacle directly in front of the vehicle, many other related devices are needed, making the operation cumbersome and time consuming, and at the same time, since the calibration of the final lidar external parameters is achieved by assistance of visual software and staff, i.e. the accuracy of the lidar external parameter calibration is related to the human eye, the calibration of the lidar may not be accurate.

However, by using a dynamic calibration scheme, two tracks need to be determined by using a global positioning system and a laser radar, so that the global positioning system needs to conveniently position and track an environment without shielding, and a driving area needs to have a characteristic environment so as to conveniently scan the surrounding environment by the laser radar, and the calibration method has high environmental requirements.

In view of the above problems, in the embodiment of the present application, a first deviation value between a vehicle and a calibration track is obtained after a first preset distance is travelled according to the calibration track by using an automatic driving technology of the vehicle. Since the first deviation value is generated by inaccurate calibration of the external parameter of the laser radar, the external parameter (i.e., the first yaw angle) of the laser radar can be calibrated according to the first deviation value. Because the automatic driving function of the vehicle is utilized and only one calibration track is needed in the test environment, the application has the characteristics of short time consumption, high precision and low requirement on the test environment. In particular, the following detailed description will be made with reference to the accompanying drawings and specific embodiments.

Referring to fig. 4, an external parameter calibration method of a laser radar is provided in an embodiment of the present application. As shown, the following specific steps are mainly included.

Step S401: and controlling the vehicle to automatically drive according to the calibration track.

In the embodiment of the application, the external parameter calibration device of the laser radar controls the vehicle to automatically drive according to the calibrated track by means of the automatic driving function of the vehicle. It is appreciated that the autopilot system of the vehicle determines the heading angle of the vehicle from the first yaw angle of the lidar. Specifically, an automatic driving system of the vehicle determines a calibration track at first, then the automatic driving system of the vehicle determines a course angle of the vehicle according to a first yaw angle of the laser radar according to the system, and the vehicle runs according to the course angle, so that the automatic driving system of the vehicle controls the vehicle to automatically drive according to the calibration track. The first yaw angle is the external parameter of the laser radar to be calibrated; the heading angle is used to characterize the direction in which the vehicle is actually traveling.

It should be noted that, the calibration track described above is a travel track predetermined by a worker, and specifically, the calibration track may be a circle or a straight line, etc., which is not particularly limited in the present application.

In one possible implementation manner, when the calibration track is a straight line, the automatic driving system of the vehicle determines that the heading angle of the vehicle is 0 degrees according to the first yaw angle of the laser radar, so as to control the vehicle to automatically drive along the calibration straight line. It can be understood that the calibration of the laser radar of the vehicle is not accurate, so that the determined course angle of the vehicle is not 0 degrees, and further, deviation possibly exists between the actual running route of the vehicle and the straight line corresponding to the calibration track. In the embodiment of the application, when the calibration track is a straight line, the vehicle only needs to control the running straight line of the vehicle, the operation is simple, and the test environment is convenient to find, so that the calibration efficiency is improved.

In practical applications, the external parameters of the lidar include position information, roll angle, pitch angle and yaw angle. In order to reduce the error of calibrating the yaw angle in the external parameters of the laser radar, the position information, the roll angle and the pitch angle of the laser radar can be calibrated first. In particular, the following detailed description will be made with reference to the accompanying drawings and specific embodiments.

In the embodiment of the application, the position information of the laser radar is calibrated, firstly, the measured position information of the laser radar relative to the vehicle is determined, and then the determined measured position information of the laser radar relative to the vehicle is sent to an external parameter calibration device of the laser radar; and the external parameter calibration device of the laser radar calibrates the position information of the laser radar according to the measured position information.

It will be appreciated that the measured position information described above refers to the position of the lidar relative to the vehicle as determined by the user through the measurement. Illustratively, the relative position of the lidar is determined centered on the rear right tire of the vehicle. For easy understanding, referring to fig. 5, a schematic view of a scenario for calibrating laser radar location information is provided in an embodiment of the present application. As shown in fig. 5, taking the application scenario corresponding to fig. 1 as an example, the tire 501 is a rear right tire of the vehicle 101, that is, a preset vehicle position of the vehicle. The measured location information that the user needs to determine includes a lateral distance 502 of the vehicle 101 relative to the lidar 102, a longitudinal distance 504 of the vehicle 101 relative to the lidar 102, and a vertical distance 503 of the vehicle 101 relative to the lidar 102.

It should be noted that, determining the relative position of the lidar with the right tire behind the vehicle as the center is only an exemplary expression, and those skilled in the art may also design other positions of the vehicle as the vehicle position according to actual needs, so as to determine the relative position of the lidar, which is not particularly limited in the present application.

It should be noted that, the above description of "determining the measured position information of the lidar relative to the vehicle" may be that the user actually performs measurement by means of a tool such as a tape measure, and further determine the measured position information of the lidar relative to the vehicle. Of course, those skilled in the art may also determine the measured position information of the vehicle in other manners according to actual needs, which is not particularly limited in the present application.

In the embodiment of the application, the roll angle and pitch angle of the laser radar are calibrated, firstly, the measured roll angle and the measured pitch angle of the laser radar relative to the vehicle are determined, and then the determined measured roll angle and the determined measured pitch angle of the laser radar relative to the vehicle are sent to an external parameter calibration device of the laser radar; and the external parameter calibration device of the laser radar calibrates the roll angle and the pitch angle of the laser radar according to the measured roll angle and the measured pitch angle.

It will be appreciated that the above-described measured roll angle and measured pitch angle refer to roll angle and pitch angle of the lidar relative to the vehicle as determined by the user through the measurements. Illustratively, the user uses a level gauge to determine the measured roll angle and the measured pitch angle. Specifically, a user first places the level on the roof or road surface where the vehicle is parked for calibrating the zero degree position of the level. And then placing the level on a laser radar, and determining a measured roll angle and a measured pitch angle by reading the related data on the level.

It should be noted that, the determination of the measured roll angle and the measured pitch angle by using the level meter, and thus the calibration of the roll angle and the pitch angle of the laser radar is merely an exemplary illustration, and the present application is not limited thereto.

In the embodiment of the application, the external parameters of the laser radar also comprise position information, rolling angle and pitch angle. Before the first yaw angle of the laser radar is calibrated, the position information, the rolling angle and the pitch angle of the laser radar are required to be calibrated, so that the yaw angle of the calibrated laser radar is more accurate.

Step S402: after the vehicle runs a first preset distance, a first deviation value of the vehicle and the calibration track is obtained.

In the embodiment of the application, after the vehicle runs a first preset distance, the external parameter calibration device of the laser radar obtains the current vehicle position, and further, a first deviation value of the vehicle and the calibration track is determined according to the current vehicle position and the calibration track. It is understood that the first deviation value is positive or negative. For example, when the vehicle is located on the left side of the calibration trajectory, then the first deviation value is positive; when the vehicle is located on the right side of the nominal trajectory, then the first deviation value is negative. Of course, the person skilled in the art may set, according to the actual need, such that when the vehicle is located on the left side of the calibration trajectory, the first deviation value is negative; when the vehicle is located on the right side of the calibration track, the first deviation value is positive, which is not particularly limited by the present application.

For ease of understanding, referring to fig. 6, a schematic view of a scenario for calibrating a first yaw angle of a lidar according to an embodiment of the present application is provided. As shown in fig. 6, a vehicle 601, a lidar 602, a calibration trajectory 603, a road 604, and a first deviation value 605 are shown. Specifically, in practical application, in fig. 6 (1), the vehicle 601 starts to automatically drive from the initial position according to the calibration track 603 (i.e. the straight track), and after the vehicle travels a first preset distance, the vehicle reaches the position as in fig. 6 (2), at this time, a difference between the vehicle 601 and the calibration track 603 has been generated, that is, a first deviation 605.

It will be appreciated that, as shown, when the vehicle initial position is such that the middle of the right wheel is just pressed against the calibration track, after the first preset distance is travelled, the distance between the middle of the right wheel of the vehicle and the calibration track is obtained as the first deviation value. Of course, those skilled in the art may also design the distance between other positions of the vehicle and the calibration track as the first deviation value, such as the logo position or the left tire position, according to actual needs, which is not particularly limited by the present application.

In practical applications, because the unevenness of the roadside, such as the presence of small stones or depressions on the road surface, may cause the final stopping position of the vehicle to change, and the vehicle may deviate from the left side of the route to the right side of the route, the first deviation value determined by the vehicle only after traveling for the first preset distance may not be accurate, and thus the calibration of the external parameters of the laser radar may not be accurate. In view of the above problems, a plurality of deviation values may be obtained, and the average value of the plurality of deviation values may be taken to obtain a first deviation value, so that the accuracy of the determined first deviation value is higher.

In one possible implementation manner, in the process of driving the vehicle by a first preset distance, the external parameter calibration device of the laser radar obtains initial first deviation values of a plurality of vehicles and calibration tracks, and averages the initial first deviation values to obtain first deviation values of the vehicles and the calibration tracks.

For example, when the first preset distance is 200m, an initial first deviation is obtained every 25m, in the process of driving the vehicle for the first preset distance, initial first deviation values of 8 vehicles and the calibration track are obtained to be 0.1m, 0.23m, 0.35m, 0.45m, 0.55m, 0.41m and 0.51m, and then the determined first deviation values are 0.38m; similarly, when the first preset distance is 200m, an initial first deviation is obtained every 25m, in the process of driving the vehicle for the first preset distance, initial first deviation values of 8 vehicles and the calibration track are obtained to be 0.01m, 0.02m, 0.03m, 0.04m, 0.05m, 0.06m, 0.07m and-0.03 m, and then the determined first deviation value is 0.03m.

It will be appreciated that, due to the unevenness of the roadside, the final stopping position of the vehicle may be changed, and if the vehicle is driven only by the first preset distance, the first deviation value determined may not be accurate, which may further result in inaccurate calibration of the external parameters of the laser radar. The occurrence of the problem can be effectively avoided through the mean value obtaining mode, so that the finally determined first deviation value can accurately reflect the deviation of the first yaw angle of the laser radar.

It is understood that in the process of acquiring the initial first deviation values of the plurality of vehicles and the calibration track, the initial first deviation values may be acquired uniformly in time, or the initial first deviation values may be acquired randomly, which is not particularly limited in the present application.

It should be noted that, according to actual needs, a person skilled in the art may repeatedly execute the first preset distance for driving the vehicle, determine the first deviation value, further obtain a plurality of first deviation values, average the obtained first deviation values, and take the average value of the finally obtained first deviation values as the first deviation value.

Step S403: and calibrating a first yaw angle of the laser radar according to the first deviation value.

In the embodiment of the application, since the automatic driving of the vehicle determines the driving direction of the vehicle according to the heading angle determined by the laser radar, the external parameter calibration of the laser radar can calibrate the first yaw angle of the laser radar according to the first deviation value. Specifically, after the first deviation value is determined, whether the yaw angle of the laser radar is far to the left or to the right can be determined according to the positive and negative of the deviation value, and then the corresponding angle is adjusted according to the magnitude of the first deviation value, so that the calibration of the external parameters of the laser radar is realized.

It should be noted that, the first yaw angle of the calibration laser radar may be used to characterize the adjustment of parameters of the relevant laser radar by the corresponding algorithm so as to realize the adjustment of the external parameters of the laser radar, or may be used to characterize the calibration of the external parameters of the laser radar by adjusting the actual posture of the laser radar, which is not particularly limited in the present application.

In one possible implementation manner, it is first determined whether the absolute value of the first deviation value is greater than or equal to a preset deviation value threshold, and if the absolute value of the first deviation value is greater than or equal to the preset deviation value threshold, the first yaw angle of the lidar is calibrated according to the first deviation value. The preset deviation value threshold is used for representing whether the external parameters of the laser radar on the corresponding vehicle meet the expectations or not. It can be appreciated that when the absolute value of the first deviation value is smaller than the preset deviation value threshold, the external parameters of the laser radar on the vehicle meet the expectations, and the external parameters of the laser radar are not calibrated.

For example, when the preset deviation value threshold is 0.05m, and the absolute value of the determined first deviation value is 0.03m, since 0.03m is smaller than 0.05m, the external parameters of the laser radar on the vehicle meet the expectations, and the external parameters of the laser radar are not calibrated; when the absolute value of the determined first deviation value is 0.38m, the first yaw angle of the laser radar is calibrated according to the first deviation value because 0.38m is larger than 0.05 m.

It should be noted that, since the vehicle may cause an increase in the first deviation value with an increase in the travel distance, the deviation value threshold value set should be associated with the first preset distance.

In the embodiment of the application, the deviation value threshold is preset, and the preset deviation value threshold is compared with the first deviation value, so that the first yaw angle of the laser radar is calibrated, and the efficiency of calibrating the external parameters of the vehicle is improved conveniently.

In the practical application process, after the external parameters of the laser radar are calibrated, the calibrated laser radar needs to be verified to ensure that the calibration of the laser radar is accurate enough, and when the laser radar is inaccurate, the external parameters of the laser radar need to be calibrated continuously. In particular, the following detailed description will be made with reference to the accompanying drawings and specific embodiments.

Referring to fig. 7, another method for calibrating external parameters of a laser radar according to an embodiment of the present application is provided. As shown in the figure, step S403 specifically includes the following steps on the basis of fig. 4.

Step S4031: and determining the offset direction of the vehicle according to the first deviation value.

In the embodiment of the application, the external parameter calibration device of the laser radar determines the offset direction of the vehicle according to the first deviation value. It will be appreciated that since the determined first deviation value is positive or negative, the direction of the offset of the vehicle may be determined from the first deviation value. It should be noted that the direction of the offset of the vehicle is used to characterize the yaw angle of the lidar as being offset either positively or negatively.

Illustratively, a positive value of the first deviation value indicates that the vehicle is to the left of the nominal trajectory and a negative value of the first deviation value indicates that the vehicle is to the right of the nominal trajectory. When the first deviation value is 0.38m, and the first deviation value is a positive value, the vehicle is positioned at the left side of the calibration track, and the deviation direction of the vehicle, namely the yaw angle of the laser radar is determined to be positively deviated.

Step S4032: and adjusting the first yaw angle in a direction opposite to the offset direction according to the offset direction to obtain a second yaw angle.

In the embodiment of the application, the external parameter calibration device of the laser radar adjusts the first yaw angle in the direction opposite to the offset direction according to the offset direction, and acquires the calibrated first yaw angle, namely the second yaw angle. When the yaw angle of the laser radar is offset positively, the external parameter calibration device of the laser radar adjusts the first yaw angle negatively according to the offset direction, and acquires the calibrated first yaw angle, namely the second yaw angle; similarly, when the yaw angle of the laser radar deviates to the negative direction, the external parameter calibration device of the laser radar positively adjusts the first yaw angle according to the deviation direction, and acquires the calibrated first yaw angle, namely the second yaw angle.

In one possible implementation manner, the external parameter calibration device of the laser radar adjusts the first yaw angle according to a preset first adjustment amplitude and a direction opposite to the offset direction according to the offset direction, so as to obtain a second yaw angle. It should be noted that, the "first adjustment amplitude" described above is a preset adjustment angle for the lidar.

Illustratively, when the adjustment size of the first adjustment amplitude is represented by a deviation value, the adjustment size of the first adjustment amplitude is 0.05m. When the yaw angle of the laser radar is positively offset, the yaw angle of the laser radar is reversely adjusted by a corresponding angle, so that the determined deviation value is reduced by 0.05m when the vehicle is automatically driven again according to the calibration track; similarly, when the yaw angle of the laser radar is offset to the negative direction, the yaw angle of the laser radar is reversely adjusted to a corresponding angle, and then the determined deviation value is increased by 0.05m when the vehicle is automatically driven again according to the calibration track.

It can be understood that, under general circumstances, the preset value corresponding to the first adjustment amplitude is smaller, so that the problem that the external parameters of the laser radar cannot be calibrated due to the larger first adjustment amplitude is avoided. In one possible implementation manner, the deviation value threshold is selected as the first adjustment amplitude, so that the problem that the external parameters of the laser radar cannot be calibrated effectively due to the fact that the first adjustment amplitude is large is avoided. Of course, those skilled in the art may set the first adjustment amplitude to other values according to actual needs, which is not particularly limited in the present application.

In the embodiment of the application, the first yaw angle is adjusted in the direction opposite to the offset direction according to the preset first adjustment amplitude, and the second yaw angle is obtained. And when the deviation is generated, the first yaw angle is adjusted according to the preset first adjustment amplitude, so that the algorithm implementation difficulty of related staff is reduced, and the scheme is convenient to implement.

In one possible implementation, the external parameter calibration device of the laser radar determines a second adjustment amplitude according to the first deviation value, and then adjusts the first yaw angle according to the second adjustment amplitude in a direction opposite to the offset direction according to the offset direction, so as to obtain a second yaw angle. Specifically, the external parameter calibration device of the laser radar determines a second adjustment amplitude according to the absolute value of the first deviation value, namely when the absolute value of the first deviation value is larger, the determined corresponding second adjustment amplitude is also larger; when the absolute value of the first deviation value is smaller, the determined corresponding second adjustment amplitude is also smaller. And then the external parameter calibration device of the laser radar adjusts the first yaw angle in the direction opposite to the offset direction according to the offset direction, the adjusted size is corresponding second adjustment amplitude, and finally the second yaw angle is obtained. It is understood that the second adjustment amplitude is positively correlated with the first offset value.

For ease of understanding, the relationship between the absolute value of the first deviation value and the second adjustment amplitude is shown in the form of a table, and an exemplary preset relationship between the first deviation value and the second adjustment amplitude is shown in table one. It can be understood that when the first deviation value is 1.5m, the external parameter calibration device of the laser radar compares the absolute value of the first deviation value with the relation table of the second adjustment amplitude, so that the second adjustment amplitude can be determined to be 0.5m; similarly, when the first deviation value is 1m, the external parameter calibration device of the laser radar compares the absolute value of the first deviation value with the relation table of the second adjustment amplitude, and can determine that the second adjustment amplitude is 0.2m; similarly, when the first deviation value is 0.8m, the external parameter calibration device of the laser radar compares the absolute value of the first deviation value with the relation table of the second adjustment amplitude, and can determine that the second adjustment amplitude is 0.2m; by analogy, the embodiments of the present application will not be described in detail.

Table one:

absolute value of first deviation value	Second adjustment amplitude
		(1m，5m]	0.5m
(0.2m，1m]	0.2m
		(0.05m，0.2m]	0.05m
(0.03m，0.05m]	0.01m

It should be noted that the second adjustment range is represented by a deviation value, and it is understood that the deviation value refers to a variation value of the determined second deviation value after the external parameter of the laser radar is calibrated, and the vehicle automatically drives again according to the calibration track for a first preset distance, compared with the first deviation value. The corresponding relation between the absolute value of the first deviation value and the second adjustment amplitude is not necessarily stored in a table form, and a person skilled in the art can adjust the storage form of the corresponding relation between the first deviation value and the second adjustment amplitude according to actual needs.

Step S4033: and controlling the vehicle to automatically drive according to the calibration track.

In the embodiment of the application, after the external parameters of the laser radar are adjusted once, whether the calibrated laser radar meets the expected requirement is tested. The external parameter calibration device of the laser radar controls the vehicle to automatically drive according to the calibration track. During autopilot, the vehicle determines a heading angle of the vehicle based on a second yaw angle of the lidar.

Step S4034: after the vehicle travels a second preset distance, whether the vehicle is in a stable state or not is judged.

In the embodiment of the application, after the vehicle runs a second preset distance, whether the vehicle is in a stable state or not is judged. Wherein the steady state is used for representing that the actual running route of the vehicle meets the expected requirement. The second preset distance is a set vehicle running distance.

In one possible implementation manner, after the vehicle travels a second preset distance, the external parameter calibration device of the laser radar obtains a second deviation value of the vehicle and the calibration track, and compares an absolute value of the obtained second deviation value with a deviation value threshold value to further determine whether the vehicle is in a stable state. Specifically, if the absolute value of the second deviation value is smaller than a preset deviation value threshold value, determining that the vehicle is in a stable state; and if the absolute value of the second deviation value is greater than or equal to the deviation value threshold value, determining that the vehicle is not in a stable state.

For example, the deviation value threshold is 0.03m, when the second deviation value is 0.8m, the absolute value of the corresponding second deviation value is 0.8m, and since 0.8m is greater than 0.03m, that is, the absolute value of the second deviation value is greater than or equal to the deviation value threshold, it is determined that the vehicle is not in a stable state; similarly, when the second deviation value is-0.02 m, the absolute value of the corresponding second deviation value is 0.02m, and the vehicle is determined to be in a stable state because the absolute value of the second deviation value is smaller than 0.02m, namely, the absolute value of the second deviation value is smaller than the deviation value threshold;

It will be appreciated that when the second preset distance is the same as the first preset distance, the corresponding deviation threshold value in this step is the same as the deviation threshold value described above.

Step S4035: and if the vehicle is in a stable state, calibrating the first yaw angle of the laser radar according to the second yaw angle.

In the embodiment of the application, when the vehicle is in a stable state, the external parameter calibration device of the laser radar calibrates a first yaw angle of the laser radar according to a second yaw angle. Specifically, after the vehicle is judged to be in a stable state, the adjustment of the relevant parameters in the automatic driving system is converted into the adjustment of the relevant parameters of the laser radar, so that the calibration of the first yaw angle of the laser radar is realized.

In one possible implementation, if the vehicle is not in a steady state, the second yaw angle is taken as the first yaw angle of the lidar, and the external parameters of the lidar are recalibrated. Specifically, the present application is not described herein in detail for brevity of description with reference to the above related method embodiments. It should be noted that if the vehicle is not in a stable state, an alarm can be sent to remind the staff, and further the calibration of the external parameters of the laser radar is carried out again, and the application is not particularly limited to this.

In the embodiment of the application, the offset direction of the vehicle is determined through the first deviation value, the first yaw angle is adjusted in the direction opposite to the offset direction according to the offset direction, the automatic driving of the vehicle is utilized again to verify whether the current heading angle of the vehicle meets the expectations, and if the vehicle is in a stable state, the first yaw angle of the laser radar is calibrated according to the second yaw angle. According to the embodiment of the application, the laser radar external parameters are calibrated for a plurality of times, so that the finally calibrated laser radar is more accurate.

Corresponding to the embodiment of the method, the application also provides an external parameter calibration device of the laser radar.

Referring to fig. 8, a schematic structural diagram of an external parameter calibration device of a laser radar according to an embodiment of the application is provided. As shown in fig. 8, an autopilot control module 801, a deviation value acquisition module 802, and a yaw angle calibration module 803 are shown, wherein the autopilot control module 801 is electrically connected to the deviation value acquisition module 802; the offset value acquisition module 802 is electrically connected to the yaw angle calibration module 803. In the embodiment of the application, an automatic driving control module is used for controlling the vehicle to automatically drive according to the calibration track, and in the automatic driving process, the vehicle determines the course angle of the vehicle according to the first yaw angle of the laser radar; the deviation value acquisition module is used for acquiring a first deviation value of the vehicle and the calibration track after the vehicle runs a first preset distance; the yaw angle calibration module is used for calibrating a first yaw angle of the laser radar according to the first deviation value. Wherein, there is also an electrical connection relationship between the autopilot control module 801 and the yaw angle calibration module 803, which is not shown in the figures for simplicity of description.

The specific content related to the embodiment of the present application may be referred to the description of the embodiment of the method, which is not repeated for the sake of brevity.

In one possible implementation manner, the external parameter calibration device of the laser radar further comprises a measurement position information receiving module and a position information calibration module, wherein the measurement position information receiving module is electrically connected with the position information calibration module. In the embodiment of the application, the measured position information receiving module is used for receiving the measured position information of the laser radar relative to the vehicle, which is input by a user; the position information calibration module is used for calibrating the position information of the laser radar according to the measured position information.

In one possible implementation manner, the external parameter calibration device of the laser radar further comprises a rolling angle measurement and pitch angle measurement receiving module and a rolling angle and pitch angle calibration module, wherein the rolling angle measurement and pitch angle measurement receiving module is electrically connected with the rolling angle and pitch angle calibration module. The roll angle and pitch angle measuring receiving module is used for receiving a roll angle and pitch angle measuring of the laser radar relative to the vehicle, which are input by a user; the roll angle and pitch angle calibration module is used for calibrating the roll angle and the pitch angle of the laser radar according to the measured roll angle and the measured pitch angle.

In one possible implementation manner, the deviation value obtaining module 802 is specifically configured to obtain initial first deviation values of the plurality of vehicles and the calibration track during the running process of the vehicles by a first preset distance; and averaging the initial first deviation values to obtain a first deviation value of the vehicle and the calibration track.

In one possible implementation manner, the yaw angle calibration module 803 is specifically configured to determine whether the absolute value of the first deviation value is greater than or equal to a preset deviation value threshold; if the absolute value of the first deviation value is larger than or equal to a preset deviation value threshold value, calibrating a first yaw angle of the laser radar according to the first deviation value.

In one possible implementation, the yaw calibration module 803 is specifically further configured to determine an offset direction of the vehicle according to the first deviation value, where the offset direction is used to characterize a yaw angle of the lidar to be offset in a positive direction or a negative direction; performing direction adjustment opposite to the offset direction on the first yaw angle according to the offset direction to obtain a second yaw angle; controlling the vehicle to automatically drive according to the calibration track, and determining the course angle of the vehicle according to the second yaw angle of the laser radar in the automatic driving process; after the vehicle runs a second preset distance, judging whether the vehicle is in a stable state, wherein the stable state is used for representing that the actual running route of the vehicle meets the expected requirement; and if the vehicle is in a stable state, calibrating the first yaw angle of the laser radar according to the second yaw angle.

In a possible implementation manner, the yaw angle calibration module 803 is further configured to obtain a second deviation value between the vehicle and the calibration track after the vehicle travels a second preset distance; if the absolute value of the second deviation value is smaller than a preset deviation value threshold value, determining that the vehicle is in a stable state; and if the absolute value of the second deviation value is greater than or equal to the deviation value threshold value, determining that the vehicle is not in a stable state.

In a possible implementation manner, the yaw angle calibration module 803 is further configured to perform, according to the offset direction, a direction adjustment of the first yaw angle opposite to the offset direction according to a preset first adjustment amplitude, so as to obtain the second yaw angle.

In a possible implementation, the yaw angle calibration module 803 is further configured to determine a second adjustment amplitude according to the first deviation value, where the second adjustment amplitude is positively correlated with the first deviation value; and according to the offset direction, adjusting the first yaw angle in a direction opposite to the offset direction according to the second adjustment amplitude to obtain a second yaw angle.

Corresponding to the embodiment of the method, the application also provides electronic equipment.

Referring to fig. 9, a schematic structural diagram of an electronic device according to an embodiment of the present application, the electronic device 900 may include: processor 901, memory 902, and communication unit 903. The components may communicate via one or more buses, and it will be appreciated by those skilled in the art that the configuration of the electronic device shown in the drawings is not limiting of the embodiments of the application, as it may be a bus-like structure, a star-like structure, or include more or fewer components than shown, or may be a combination of certain components or a different arrangement of components.

Wherein, the communication unit 903 is configured to establish a communication channel, so that the electronic device may communicate with other devices. Receiving user data sent by other devices or sending user data to other devices.

The processor 901 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, and executes various functions and/or processes data stored in the memory 902 by running or executing software programs, instructions and/or modules, and invoking data stored in the memory. The processor may be comprised of integrated circuits (INTEGRATED CIRCUIT, ICs), such as a single packaged IC, or may be comprised of packaged ICs that connect multiple identical or different functions. For example, the processor 901 may include only a central processing unit (central processing unit, CPU). In the embodiment of the invention, the CPU can be a single operation core or can comprise multiple operation cores.

The memory 902, for storing instructions for execution by the processor 901, the memory 902 may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

The execution of the instructions in memory 902, when executed by processor 901, enables electronic device 900 to perform some or all of the steps in the embodiment illustrated in fig. 1.

In a specific implementation, the present invention further provides a computer storage medium, where the computer storage medium may store a program, where the program may include some or all of the steps in each embodiment of the simulation scene generating method provided by the present invention when the program is executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random-access memory (random access memory, RAM), or the like.

In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relation of association objects, and indicates that there may be three kinds of relations, for example, a and/or B, and may indicate that a alone exists, a and B together, and B alone exists. Wherein A, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of the following" and the like means any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.

Those of ordinary skill in the art will appreciate that the various elements and algorithm steps described in the embodiments disclosed herein can be implemented as a combination of electronic hardware, computer software, and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In several embodiments provided by the present application, any of the functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory RAM), a magnetic disk, or an optical disk, etc., which can store program codes.

The same or similar parts between the various embodiments in this specification are referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are substantially similar to the method embodiment, the description is relatively simple, and reference should be made to the description in the method embodiment for relevant points.

Claims

1. A method of calibrating an external reference of a lidar, the lidar being mounted on a vehicle, the external reference comprising a yaw angle, the method comprising:

2. The method for calibrating a reference to claim 1, wherein the reference further includes position information, and wherein the method further includes, prior to said controlling the vehicle to automatically drive along the calibration trajectory:

3. The method for calibrating a reference to claim 1, wherein the reference further comprises a roll angle and a pitch angle, and wherein the method further comprises, prior to said controlling the vehicle to automatically drive along a calibration trajectory:

4. The method for calibrating a laser radar according to claim 1, wherein the obtaining a first deviation value between the vehicle and the calibration track after the vehicle travels a first preset distance includes:

5. The method for calibrating a laser radar according to claim 1, wherein the calibrating the first yaw angle of the laser radar based on the first deviation value includes:

6. The method for calibrating a laser radar according to claim 1, wherein the calibrating the first yaw angle of the laser radar based on the first deviation value includes:

After the vehicle runs a second preset distance, judging whether the vehicle is in a stable state, wherein the stable state is used for representing that the actual running route of the vehicle meets the expected requirement;

7. The method for calibrating a laser radar according to claim 6, further comprising:

8. The method for calibrating the external parameters of the lidar according to claim 6 or 7, wherein the determining whether the vehicle is in a steady state after the vehicle travels a second predetermined distance comprises:

9. The method for calibrating a laser radar according to claim 6, wherein the performing a direction adjustment of the first yaw angle opposite to the offset direction according to the offset direction to obtain a second yaw angle includes:

10. The method for calibrating a laser radar according to claim 6, wherein the performing a direction adjustment of the first yaw angle opposite to the offset direction according to the offset direction to obtain a second yaw angle includes:

11. The method for calibrating a laser radar according to claim 1, wherein the calibration track is a straight line.

12. An external parameter calibration device of a laser radar, the laser radar is installed on a vehicle, the external parameter comprises a yaw angle, and the external parameter calibration device is characterized by comprising:

13. An electronic device, comprising:

A processor;

A memory;

And a computer program, wherein the computer program is stored in the memory, the computer program comprising instructions that, when executed by the processor, cause the electronic device to perform the method of any one of claims 1 to 11.

14. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer readable storage medium is located to perform the method of any one of claims 1 to 11.