Method, apparatus, device and medium for calibrating intelligent roadside unit

A computer device, comprising:

• a processor and a memory;
• wherein the processor is configured to run a program corresponding to an executable program code by reading the executable program code stored in the memory, to perform:
• obtaining an intelligent driving vehicle within a preset range of the intelligent roadside unit by matching a distance between an intelligent driving vehicle and the intelligent roadside unit with a preset range;
• obtaining a first point cloud detected by a first radar in the intelligent driving vehicle;
• obtaining location information of the intelligent driving vehicle;
• obtaining a second point cloud detected by a second radar in the intelligent roadside unit;
• and
• obtaining location information of the second radar based on the first point cloud, the second point cloud, and the location information of the intelligent driving vehicle,
• wherein, the obtaining by the one or more computing devices, location information of the second radar based on the first point cloud, the second point cloud, and the location information of the intelligent driving vehicle comprises:
• matching and aligning the first point cloud with the second point cloud through rotation and translation;
• after the first point cloud has been matched and aligned with the second point cloud, determining a location relation between the second radar and the intelligent driving vehicle based on the rotation angle, and the translation orientation and distance of the point clouds;
• and
• obtaining the location information of the second radar based on the location relation between the second radar and the intelligent driving vehicle, and the location information of the intelligent driving vehicle.

A non-transitory computer readable storage medium, configured to store computer programs that, when executed by a processor, perform a method comprising:

• obtaining an intelligent driving vehicle within a preset range of the intelligent roadside unit by matching a distance between an intelligent driving vehicle and the intelligent roadside unit with a preset range;
• obtaining a first point cloud detected by a first radar in the intelligent driving vehicle;
• obtaining location information of the intelligent driving vehicle;
• obtaining a second point cloud detected by a second radar in the intelligent roadside unit;
• and
• obtaining location information of the second radar based on the first point cloud, the second point cloud, and the location information of the intelligent driving vehicle,
• wherein, the obtaining by the one or more computing devices, location information of the second radar based on the first point cloud, the second point cloud, and the location information of the intelligent driving vehicle comprises:
• matching and aligning the first point cloud with the second point cloud through rotation and translation;
• after the first point cloud has been matched and aligned with the second point cloud, determining a location relation between the second radar and the intelligent driving vehicle based on the rotation angle, and the translation orientation and distance of the point clouds;
• and
• obtaining the location information of the second radar based on the location relation between the second radar and the intelligent driving vehicle, and the location information of the intelligent driving vehicle.