自动驾驶多传感器融合的时间校准方法研究

doi:10.19562/j.chinasae.qcgc.2022.02.008

Abstract

Abstract:

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 on-board 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.

Key words: autonomous vehicles, multi-sensor fusion, temporal calibration

Jingwei Zhang,Tiejun Liu,Rengang Li,Dan Liu,Jinglin Zhan,Hongwei Kan. A Temporal Calibration Method for Multi-Sensor Fusion of Autonomous Vehicles[J].Automotive Engineering, 2022, 44(2): 215-224.

Figures/Tables 18

θ	t/s	$θ ˙$ _R_z（t）/ （（°）·s^-1）	ω_I_z/（（°）·s^-1）	t_d/ms
0	0
2π	0.106 021	3.017 6	3.303 5	21
4π	0.209 435	0.967 7	1.432 5	23
6π	0.309 021	-1.390 9	-0.955 0	19
8π	0.405 452	-3.180 6	-2.870 3	21
10π	0.499 976	-3.838 2	-3.814 0	18
12π	0.594 545	-3.180 6	-3.446 3	22
14π	0.690 933	-1.392 0	-1.786 8	18
16π	0.790 578	0.968 0	0.447 0	22
18π	0.893 955	3.017 2	2.626 6	24
20π	1.000 022	3.838 1	3.808 0	20

References 14

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实验组	LD发光状态［6：0］（1-点亮，0-熄灭）	图像传感器曝光延迟t_k/ms	示波器测试I2C报文延迟/ms
1	0001010	2.25	2.30
2	0001010	2.25	2.48
3	0001010	2.25	2.38
4	0001011	2.50	2.55
5	0001010	2.25	2.43

名称	数值
轴系	滚转轴（内圈）
转角范围	连续
角速率范围/（（°）·s^-1）	±0.001~±1 200
角加速度（Max）/（（°）·s^-1）	1 800
速率精度平稳性/（（°）·s^-1）	≤5x10^-5（360°平均）ω≥10
速率分辨率/（（°）·s^-1）	0.000 1

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A Temporal Calibration Method for Multi-Sensor Fusion of Autonomous Vehicles

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