摘要
针对自动驾驶感知域系统的激光雷达、图像传感器、惯性测量单元3种传感器数据融合的时基校准问题,利用机械式激光雷达自身特征设计校准设备、系统及实验方法。基于激光雷达的触发事件和车载图像传感器感知特征,实现两种传感器时基在线标定,并通过示波器测量校验证明该方法的有效性。利用激光雷达扫描频率与触发事件时间差相互关联的特征,将激光雷达与惯性测量单元的标定系统结合,对激光雷达与惯性测量单元时基进行标定,并通过惯性测量单元标定实验证明方法有效性。
For the temporal calibration of data fusion of Lidar,image sensor and inertial measurement unit(IMU)in the perception system of autonomous vehicles,the calibration equipment,system and test method are designed by using the characteristics of Lidar.Based on the trigger case of Lidar and the sensing characteristics of onboard image sensor,the on-line temporal calibration of the two sensors is realized,and the effectiveness of this method is verified by oscilloscope measurement.Based on the correlation between Lidar scanning frequency and trigger case time difference,the time base of Lidar and inertial measurement unit is calibrated by combining the calibration system of Lidar and inertial measurement unit,and the effectiveness of the method is proved by the inertial measurement unit calibration test.
作者
张晶威
刘铁军
李仁刚
刘丹
詹景麟
阚宏伟
Zhang Jingwei;Liu Tiejun;Li Rengang;Liu Dan;Zhan Jinglin;Kan Hongwei(Laboratory of High-End Server&Storage Technology,Inspur Group Co.,Ltd.,Beijing 100085;Guangdong Inspur Intelligent Computing Technology Co.,Ltd,Guangzhou 510627;Inspur(Beijing)Electronic Information Industry Co.,Ltd.,Beijing 100085)
出处
《汽车工程》
EI
CSCD
北大核心
2022年第2期215-224,共10页
Automotive Engineering
基金
广东省重点研发计划(2033811500013)资助。
关键词
自动驾驶
传感器融合
时间校准
autonomous vehicles
multi-sensor fusion
temporal calibration
