CN109061606A - Intellisense laser radar system and Intellisense laser radar control method - Google Patents
Intellisense laser radar system and Intellisense laser radar control method Download PDFInfo
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- CN109061606A CN109061606A CN201811091633.2A CN201811091633A CN109061606A CN 109061606 A CN109061606 A CN 109061606A CN 201811091633 A CN201811091633 A CN 201811091633A CN 109061606 A CN109061606 A CN 109061606A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 59
- 238000003384 imaging method Methods 0.000 claims description 32
- 230000009467 reduction Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 abstract description 15
- 230000008901 benefit Effects 0.000 abstract description 6
- 230000007613 environmental effect Effects 0.000 abstract description 5
- 238000005070 sampling Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of Intellisense laser radar system and Intellisense laser radar control method are disclosed in the embodiment of the present invention, the system comprises: perceptron, for perceiving environment；Intelligent controller, the information of the environment for being perceived according to the perceptron adjust the detection performance of the perceptron.Perceptron in the embodiment of the present invention may include a variety of perceptrons, therefore the advantage of a variety of perceptrons can be merged, improve resolution ratio, the fineness etc. of perception environment, furthermore, the embodiment of the present invention can also realize Intellisense according to the detection performance for the environmental information adjustment perceptron that perceptron perceives.
Description
Technical field
The present invention relates to perception field, in particular to a kind of Intellisense laser radar system and Intellisense laser radar
Control method.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
The available high-precision spatial information of three-dimensional of laser radar, but its vertical resolution is inadequate, it is inadequate to the perception of environment
Finely, and the point cloud information of laser radar acquisition does not include color information, therefore to the effective of the information such as traffic guideboard, traffic lights
Discrimination is lower.The available real world of image pick-up device two-dimensional color information abundant has great help to the perception world, but
It is that image pick-up device is only capable of obtaining two-dimensional signal, and response speed is slower.
For the advantage for utilizing laser radar and image pick-up device simultaneously, laser radar and image pick-up device can mutually be merged, but existing
The scheme for having the laser radar in technology mutually to merge perception environment with image pick-up device is all not complete enough, is unable to fully utilize the two
Advantage, and it is not smart enough to the perception of environment.
Summary of the invention
A kind of Intellisense laser radar system and Intellisense laser radar controlling party are provided in the embodiment of the present invention
Method can merge different perceptrons, and more intelligent to the perception of environment.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions:
To solve the problems, such as appeal, the present invention provides following schemes:
In a first aspect, a kind of Intellisense laser radar system is provided, the system comprises:
Perceptron, for perceiving environment；
Intelligent controller, the information of the environment for being perceived according to the perceptron adjust the detection of the perceptron
Performance.
Optionally, the perceptron includes:
Solid-state laser radar, for detecting testee；
Image pick-up device, for the testee to be imaged, and according to the imaging of the testee to the testee
Classification.
Optionally, the information for the environment that the intelligent controller is perceived according to perceptron, adjusts the spy of the perceptron
Survey performance, comprising:
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the detection performance of the solid-state laser radar is adjusted；And/or
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the imaging performance of the image pick-up device is adjusted；And/or
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the imaging performance of the solid-state laser radar data reduction and the image pick-up device is adjusted.
Optionally, the perceptron perceives environment, comprising:
The perceptron perceives detection range, including long-range detection, and/or middle distance measurement, and/or closely visits
It surveys；
The perceptron perceives investigative range, including the detection of wide horizontal extent, and/or narrow horizontal extent；
The perceptron perceives emphasis scanning area.
Optionally, the detection performance of the intelligent controller adjustment solid-state laser radar, comprising:
Adjust the detection range of the solid-state laser radar；
Adjust the investigative range of the solid-state laser radar；
The resolution ratio of the solid-state laser radar is adjusted, so that the solid-state laser radar is adopted in the emphasis scanning area
Use high-resolution.
Optionally, the detection performance of the intelligent controller adjustment solid-state laser radar, comprising:
The scanning mode of the solid-state laser radar is adjusted, so that solid-state laser radar is in the emphasis scanning area emphasis
Scanning；
Adjust the laser power of the solid-state laser radar；
Adjust the energy supposition mode of the data of the solid-state laser radar acquisition；
Adjust the pixel stacked system of the data of the solid-state laser radar acquisition；
Adjust the scanning range of the solid-state laser radar.
Optionally, the imaging performance of the intelligent controller adjustment image pick-up device, comprising:
Adjust the areas imaging of the image pick-up device；
Adjust the imaging depth of the image pick-up device；
The resolution ratio of the image pick-up device is adjusted, so that the image pick-up device uses high-resolution in the emphasis scanning area；
The imaging frame number in the unit time of the image pick-up device is adjusted, so that the image pick-up device is in the emphasis scanning area
Using high frame number.
Second aspect provides a kind of Intellisense laser radar control method, which comprises
Perceptron perceives environment；
The information for the environment that intelligent controller is perceived according to the perceptron adjusts the detection performance of the perceptron.
Optionally, the perceptron perceives environment, comprising:
Solid-state laser detections of radar testee；
The testee is imaged in image pick-up device, and is classified according to the imaging of the testee to the testee.
Optionally, the information for the environment that the intelligent controller is perceived according to perceptron, adjusts the spy of the perceptron
Survey performance, comprising:
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the detection performance of the solid-state laser radar is adjusted；And/or
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the imaging performance of the image pick-up device is adjusted；And/or
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the imaging performance of the solid-state laser radar data reduction and the image pick-up device is adjusted.
A kind of Intellisense laser radar system is disclosed in the embodiment of the present invention, comprising: perceptron, for perceiving ring
Border；Intelligent controller, the information of the environment for being perceived according to the perceptron adjust the detection performance of the perceptron.
Perceptron in the embodiment of the present invention may include a variety of perceptrons, therefore can merge the advantage of a variety of perceptrons, improve sense
Resolution ratio, the fineness etc. of environment are known, in addition, the embodiment of the present invention can also be adjusted according to the environmental information that perceptron perceives
The detection performance of perceptron realizes Intellisense.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 show the schematic diagram of the Intellisense laser radar system of the embodiment of the present invention；
Fig. 2 show the schematic diagram of an application scenarios of the embodiment of the present invention.
Specific embodiment
Following examples of the present invention provide a kind of Intellisense laser radar system and the control of Intellisense laser radar
Resolution ratio, the fineness etc. of perception environment can be improved in method, can also adjust perception according to the environmental information that perceptron perceives
The detection performance of device realizes Intellisense.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 show the schematic diagram of the Intellisense laser radar system of the embodiment of the present invention, as shown in Figure 1, the system
System includes:
Perceptron 110, for perceiving environment；
Intelligent controller 120, the information of the environment for being perceived according to the perceptron adjust the spy of the perceptron
Survey performance.
In the embodiment of the present invention, the perceptron 110 includes:
Solid-state laser radar 111, for detecting testee；
Image pick-up device 112, for the testee to be imaged, and according to the imaging of the testee to the measured object
Body classification.
Together with perceptron 110 in Fig. 1 can integrate with intelligent controller 120, or it can be provided separately.The present invention is
Reasonable Intellisense laser radar system can be set to roof as indicated with 1, or can be set in other positions.
Two sectors in Fig. 1 can represent the sensing range of different perceptrons.
The Intellisense laser radar system of the embodiment of the present invention, comprising: perceptron, for perceiving environment；Intelligent control
Device, the information of the environment for being perceived according to the perceptron adjust the detection performance of the perceptron.The embodiment of the present invention
In perceptron may include a variety of perceptrons, such as solid-state laser radar and image pick-up device, therefore a variety of perceptrons can be merged
Advantage, improve perception environment resolution ratio, fineness, response speed etc., in addition, the embodiment of the present invention can also be according to perception
The detection performance for the environmental information adjustment perceptron that device perceives, realizes the Intellisense to environment.
In the embodiment of the present invention, solid-state laser radar and image pick-up device can be the perception of testee and first separately handle
, testee is imaged in then fusion treatment, such as speed, the position of solid-state laser radar detection testee etc., image pick-up device,
To object classification, further according to detection result, classification tracking etc. is carried out to testee；It is also possible to directly carry out fusion treatment
, such as the point cloud and image pick-up device that solid-state laser radar detection is arrived are superimposed the imaging of testee, become the point with color
Cloud is realized by the processing of the point cloud with color and surveys object classification, to testee ranging, tracking, alarm etc..
In the embodiment of the present invention, the information for the environment that the intelligent controller is perceived according to perceptron adjusts the sense
Know the detection performance of device, comprising:
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the detection performance of the solid-state laser radar is adjusted；And/or
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the imaging performance of the image pick-up device is adjusted；And/or
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the imaging performance of the solid-state laser radar data reduction and the image pick-up device is adjusted.
I.e. in the embodiment of the present invention, perceptron can there are many types, such as perceptron can be solid-state laser radar, Gu
State laser radar can be MEMS laser radar, OPA laser radar etc., perceptron or can be camera, video camera, camera etc.
The equipment that can be imaged.It in embodiments of the present invention, can be according to the sensing results of any perceptron, the adjust automatically sense
Know the performance of device and other all perceptrons；Or can be according to the sensing results of any several perceptrons, this is several for adjust automatically
The performance of a perceptron and other all perceptrons；Or can according to any one, the sensing results of any several perceptrons,
The performance of some perceptron of adjust automatically.
In the embodiment of the present invention, the perceptron perceives environment, comprising:
The perceptron perceives detection range, including long-range detection, and/or middle distance measurement, and/or closely visits
It surveys；
The perceptron perceives investigative range, including the detection of wide horizontal extent, and/or narrow horizontal extent；
The perceptron perceives emphasis scanning area.
Different detection range, investigative range be applicable in from different detection targets, such as highway, need perceptron to visit
Survey early detection, but horizontal narrow investigative range；In city complexity road environment, distance in perceptron detection is needed, but wide horizontal
Range, emphasis scanning area can be front and left and right sides at this time；In in automatic delivery, then perceptron detects
Closely, wide horizontal extent, emphasis scanning area can be road sign or guideboard at this time.
The perception of emphasis scanning area can be through the analysis to testee in the previous period and confirm, or
It can be through the quantity of testee, variation etc. in the previous period and confirm, or can be and come by other means really
Recognize, details are not described herein.
In the embodiment of the present invention, the detection performance of the adjustable perceptron of intelligent controller adjusts solid-state laser thunder
The detection performance reached, comprising:
Adjust the detection range of the solid-state laser radar；
Adjust the investigative range of the solid-state laser radar；
The resolution ratio of the solid-state laser radar is adjusted, so that the solid-state laser radar is adopted in the emphasis scanning area
Use high-resolution.
In the embodiment of the present invention, the detection performance of the intelligent controller adjustment solid-state laser radar, further includes:
The scanning mode of the solid-state laser radar is adjusted, so that solid-state laser radar is in the emphasis scanning area emphasis
Scanning；
Adjust the laser power of the solid-state laser radar；
Adjust the energy supposition mode of the data of the solid-state laser radar acquisition；
Adjust the pixel stacked system of the data of the solid-state laser radar acquisition；
Adjust the scanning range of the solid-state laser radar.
With the fast development of solid-state laser Radar Technology, high-resolution, high frame per second are inevitable trend, but high-resolution
Rate, high frame per second will lead to the over-sampling of solid-state laser radar data.By the feedback of perceptron, the embodiment of the present invention can be perceived
To emphasis scanning area, to improve emphasis scanning area resolution ratio and frame per second, while emphasis scanning area can also be adjusted
Energy supposition mode, pixel stacked system；For non-emphasis scanning area, resolution ratio and frame per second can be reduced, it is adjustable non-
The energy supposition mode of emphasis scanning area, pixel stacked system.It can solve mistake in data acquisition by above method
Sampling and lack sampling problem mention so as to which while promoting detection fineness, optimization data processing time reduces bandwidth
High-timeliness.
In the embodiment of the present invention, the detection of solid-state laser radar can be changed by changing the methods of driving voltage, electric current
Distance, investigative range and resolution ratio etc., or energy supposition mode, pixel stacked system can be adjusted by algorithm etc., or
It can be adjusted the detection performance of solid-state laser radar by other means.
In the embodiment of the present invention, the imaging performance of the intelligent controller adjustment image pick-up device, comprising:
Adjust the areas imaging of the image pick-up device；
Adjust the imaging depth of the image pick-up device；
The resolution ratio of the image pick-up device is adjusted, so that the image pick-up device uses high-resolution in the emphasis scanning area；
The imaging frame number in the unit time of the image pick-up device is adjusted, so that the image pick-up device is in the emphasis scanning area
Using high frame number.
For example, on a highway, areas imaging can be the range of road sign, if it is on the complexity road of city, at
As range can be limited to traffic lights and road sign range.Equally, according to the perception information of perceptron, adjustable camera shooting
The performance of device solves the problems, such as over-sampling and lack sampling in data acquisition, so as to promoted detect fineness while,
Optimize data processing time, reduce bandwidth, improves timeliness.
Fig. 2 show the schematic diagram of an application scenarios of the embodiment of the present invention, as shown in Fig. 2, solid-state laser radar
Scanning range is a rectangle 210, and the scanning range of image pick-up device is a circle 220.The Intellisense of the embodiment of the present invention
In laser radar system, environment is perceived according to solid-state laser radar and image pick-up device, intelligent controller confirmed current slot
Emphasis scanning area 230, adjusts solid-state laser radar and image pick-up device, and counterweight spot scan region 230 carries out emphasis scanning.
In Fig. 2, to put the density for representing point cloud data, more sparse point cloud represents lower resolution ratio, and emphasis is swept
The point cloud for retouching region 230 is intensive, and representing the region has higher resolution ratio.
With the transformation of application scenarios, emphasis scanning area is also that can change, and 240 in Fig. 2 can be considered as next
The emphasis scanning area of a period, for convenient for distinguishing, the frame in the region is dotted line.
The embodiment of the invention provides a kind of Intellisense laser radar system, including perceptron and intelligent controller, senses
Know that device is used to perceive environment, the information for the environment that intelligent controller is perceived according to perceptron adjusts the detection performance of perceptron,
Perceptron is detected according to demand, according to environment, detection performance can be adjusted in real time, improves accuracy, essence
Exactness and timeliness, to obtain more, more effective information.
Corresponding with above-mentioned Intellisense laser radar system, the embodiment of the invention also provides a kind of Intellisense laser
Radar control method, which comprises
Perceptron perceives environment；
The information for the environment that intelligent controller is perceived according to the perceptron adjusts the detection performance of the perceptron.
In the embodiment of the present invention, the perceptron perceives environment, comprising:
Solid-state laser detections of radar testee；
The testee is imaged in image pick-up device, and is classified according to the imaging of the testee to the testee.
In the embodiment of the present invention, the information for the environment that the intelligent controller is perceived according to perceptron adjusts the sense
Know the detection performance of device, comprising:
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the detection performance of the solid-state laser radar is adjusted；And/or
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the imaging performance of the image pick-up device is adjusted；And/or
The quilt that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Object is surveyed, the imaging performance of the solid-state laser radar data reduction and the image pick-up device is adjusted.
A kind of Intellisense laser radar system and the control of Intellisense laser radar are disclosed in the embodiment of the present invention
Method, comprising: perceptron, for perceiving environment；Intelligent controller, the letter of the environment for being perceived according to the perceptron
Breath, adjusts the detection performance of the perceptron.Perceptron in the embodiment of the present invention may include a variety of perceptrons, therefore can be with
The advantage of a variety of perceptrons is merged, resolution ratio, the fineness etc. of perception environment are improved, in addition, the embodiment of the present invention can be with root
According to the detection performance for the environmental information adjustment perceptron that perceptron perceives, Intellisense is realized.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to it by specialized hardware include specific integrated circuit, dedicated cpu, private memory, special components and parts etc. come real
It is existing, but the former is more preferably embodiment in many cases.Based on this understanding, the technical solution sheet in the embodiment of the present invention
The part that contributes to existing technology can be embodied in the form of software products in other words in matter, which produces
Product can store in storage medium, as read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disk, CD etc., including some instructions are used so that computer equipment (can be
People's computer, server or network equipment etc.) it executes described in certain parts of each embodiment of the present invention or embodiment
Method.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of Intellisense laser radar system, which is characterized in that the system comprises:
Perceptron, for perceiving environment；
Intelligent controller, the information of the environment for being perceived according to the perceptron adjust the detection performance of the perceptron.
2. the system as claimed in claim 1, which is characterized in that the perceptron includes:
Solid-state laser radar, for detecting testee；
Image pick-up device for the testee to be imaged, and classifies to the testee according to the imaging of the testee.
3. system as claimed in claim 2, which is characterized in that the environment that the intelligent controller is perceived according to perceptron
Information adjusts the detection performance of the perceptron, comprising:
The measured object that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Body adjusts the detection performance of the solid-state laser radar；And/or
The measured object that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Body adjusts the imaging performance of the image pick-up device；And/or
The measured object that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Body adjusts the imaging performance of the solid-state laser radar data reduction and the image pick-up device.
4. system as claimed in claim 2, which is characterized in that the perceptron perceives environment, comprising:
The perceptron perceives detection range, including long-range detection, and/or middle distance measurement and/or proximity detection；
The perceptron perceives investigative range, including the detection of wide horizontal extent, and/or narrow horizontal extent；
The perceptron perceives emphasis scanning area.
5. system as claimed in claim 3, which is characterized in that the detection of the intelligent controller adjustment solid-state laser radar
It can, comprising:
Adjust the detection range of the solid-state laser radar；
Adjust the investigative range of the solid-state laser radar；
The resolution ratio of the solid-state laser radar is adjusted, so that the solid-state laser radar is in the emphasis scanning area using high
Resolution ratio.
6. system as claimed in claim 5, which is characterized in that the detection of the intelligent controller adjustment solid-state laser radar
It can, comprising:
The scanning mode of the solid-state laser radar is adjusted, so that solid-state laser radar is swept in the emphasis scanning area emphasis
It retouches；
Adjust the laser power of the solid-state laser radar；
Adjust the energy supposition mode of the data of the solid-state laser radar acquisition；
Adjust the pixel stacked system of the data of the solid-state laser radar acquisition；
Adjust the scanning range of the solid-state laser radar.
7. system as claimed in claim 6, which is characterized in that the imaging performance of the intelligent controller adjustment image pick-up device, packet
It includes:
Adjust the areas imaging of the image pick-up device；
Adjust the imaging depth of the image pick-up device；
The resolution ratio of the image pick-up device is adjusted, so that the image pick-up device uses high-resolution in the emphasis scanning area；
The imaging frame number in the unit time of the image pick-up device is adjusted, so that the image pick-up device is used in the emphasis scanning area
High frame number.
8. a kind of Intellisense laser radar control method, which is characterized in that the described method includes:
Perceptron perceives environment；
The information for the environment that intelligent controller is perceived according to the perceptron adjusts the detection performance of the perceptron.
9. method according to claim 8, which is characterized in that the perceptron perceives environment, comprising:
Solid-state laser detections of radar testee；
The testee is imaged in image pick-up device, and is classified according to the imaging of the testee to the testee.
10. method as claimed in claim 9, which is characterized in that the environment that the intelligent controller is perceived according to perceptron
Information, adjust the detection performance of the perceptron, comprising:
The measured object that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Body adjusts the detection performance of the solid-state laser radar；And/or
The measured object that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Body adjusts the imaging performance of the image pick-up device；And/or
The measured object that the classification for the testee that the intelligent controller is obtained according to image pick-up device and/or solid-state laser radar obtain
Body adjusts the imaging performance of the solid-state laser radar data reduction and the image pick-up device.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110954910A (en) * | 2019-12-06 | 2020-04-03 | 中国第一汽车股份有限公司 | Environment sensing system, method and storage medium |
| WO2021051736A1 (en) * | 2020-01-22 | 2021-03-25 | 深圳市速腾聚创科技有限公司 | Method and apparatus for determining sensing area, and storage medium and vehicle |
| WO2022140913A1 (en) * | 2020-12-28 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Tof ranging apparatus and control method therefor |
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