Research on calibration method of vehicle sensor based on C-V2X

The stability and reliability of vehicle sensor data such as high-precision integrated inertial navigation system (INS), millimeter wave radar (MMW), laser radar (LIDAR) are very important for the functional realization of vehicle ADAS. Due to the influence of natural environment and working environment, the perception data of the sensor may be biased. C-V2X uses the characteristics of interconnection to collect and analyze the information of traffic participants such as vehicles and pedestrians in the surrounding environment and the roadside information such as map information, and broadcasts it to the surrounding vehicles to provide traffic environment reference data for the test vehicles. In general, the calibration of sensors requires additional calibration equipment. In this paper, the C-V2X transmission data of vehicle networking is used as the truth value system to provide reference data for the real-time calibration of vehicle sensors, which can reduce the test hardware equipment, and the truth value system works steadily, providing the location information of objects with high accuracy. This calibration method can improve the accuracy of vehicle sensor, and provide reliable data support for multi-sensor fusion and system calibration.