CN108169765A - Improve the method and electronic equipment of automatic Pilot reliability - Google Patents
Improve the method and electronic equipment of automatic Pilot reliability Download PDFInfo
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- CN108169765A CN108169765A CN201611116208.5A CN201611116208A CN108169765A CN 108169765 A CN108169765 A CN 108169765A CN 201611116208 A CN201611116208 A CN 201611116208A CN 108169765 A CN108169765 A CN 108169765A
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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Abstract
An embodiment of the present invention provides a kind of method and electronic equipment for improving automatic Pilot reliability, in the method for improving automatic Pilot reliability, the testing result of the environmental characteristic value in default working sensor region is obtained first；If the testing result shields the testing result of the default sensor not in the environmental characteristic value allowed band of the default sensor.That is, for each default sensor, if external environment characteristic value cannot be guaranteed that it exports the accuracy of result, input of the testing result of the default sensor as subsequent module is not used then, avoiding influences the accuracy of barrier perception and vehicle location using the testing result with error message, the reliability of automatic Pilot process is improved, eliminates security risk.
Description
Technical field
The present invention relates to Vehicular intelligent control technology fields, and in particular to it is a kind of improve automatic Pilot reliability method and
Electronic equipment.
Background technology
It is existing to be capable of in the vehicle of automatic Pilot, during being generally equipped with multiple sensors to realize automatic Pilot
Barrier perceives and vehicle location function.Laser radar has higher reliability, and can provide abundant 3D testing results, and
Camera is capable of providing colouring information and with apparent price advantage, therefore in current automatic Pilot technology, mainly according to
It is perceived by the testing result of laser radar and camera with to realize barrier during automatic Pilot and positioning.
However the work of laser radar and camera can all be influenced by external environmental factor.Illumination, rainwater etc. are natural
Factor can all influence the testing result of laser radar and camera.For example, under conditions of strong light, for example solar noon sun light is straight
In the case of penetrating, the measurement result of laser radar often will appear situation that is inaccurate and accidentally measuring.The output result of camera
Can because illumination it is strong the reason of and image be caused to obscure, it is over-exposed situations such as occur；In the case of dim light and half-light,
Laser radar perhaps can normally work, but camera cannot normally export image result in this case.Hair
A person of good sense has found that even external environmental factor can be to the testing result of laser radar and camera in the implementation of the present invention
It produces bigger effect, automated driving system still will continue to after the output of laser radar and camera is used to be used as in the prior art
The input of continuous module.It usually can all cause to hinder in automated driving system road pavement using these testing results with error message
Hinder the flase drop of object and missing inspection and the incorrect positioning to automatic driving vehicle, can be that entire automated driving system introduces very
Big security risk.
Invention content
When the embodiment of the present invention will solve the accuracy of external environment influence sensor detection results in the prior art, cause
Automated driving system cannot security risk that normally disturbance of perception object and positioning vehicle are brought.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of method for improving automatic Pilot reliability, including
Following steps：
Obtain the testing result of the environmental characteristic value in default working sensor region；
If the testing result not in the environmental characteristic value allowed band of the default sensor, shields described default
The testing result of sensor.
Optionally, in the method for above-mentioned raising automatic Pilot reliability, the default sensor is laser radar, described
Environmental characteristic value includes intensity of illumination, if the testing result is not in the environmental characteristic value allowed band of the default sensor
It is interior, then the testing result of the default sensor is shielded, specially：
If the testing result of the intensity of illumination is more than intensity of illumination upper limit threshold when laser radar works normally, shield
State the testing result of laser radar in covert.
Optionally, in the method for above-mentioned raising automatic Pilot reliability, the default sensor is camera, the ring
Border characteristic value include intensity of illumination, if the testing result not in the environmental characteristic value allowed band of the default sensor,
The testing result of the default sensor is then shielded, specially：
If the testing result of the intensity of illumination is more than intensity of illumination upper limit threshold when camera works normally, shield
The testing result of the camera.
Optionally, it in the method for above-mentioned raising automatic Pilot reliability, further includes：
If the testing result of the intensity of illumination is less than intensity of illumination lower threshold when camera works normally, shield
The testing result of the camera.
Optionally, in the method for above-mentioned raising automatic Pilot reliability, the environmental characteristic value includes air humidity, if
The testing result in the environmental characteristic value allowed band of the default sensor, does not then shield the inspection of the default sensor
It surveys as a result, being specially：
If the testing result of the air humidity is more than air humidity upper limit threshold when camera works normally, shield
The testing result of the camera.
Optionally, in the method for above-mentioned raising automatic Pilot reliability, the environmental characteristic value includes visibility, if institute
Testing result is stated not in the environmental characteristic value allowed band of the default sensor, then shields the detection of the default sensor
As a result, it is specially：
If the visibility lower threshold when testing result of the visibility is worked normally less than camera, described in shielding
The testing result of camera.
Optionally, in the method for above-mentioned raising automatic Pilot reliability, following steps are further included：
Obtain the quantity of the default sensor of shielding；
If the quantity is more than given threshold, the prompt message that should close automated driving system is sent out.
The embodiment of the present invention also provides a kind of electronic equipment, including：
At least one processor；And
The memory being connect at least one processor communication；Wherein,
The memory is stored with the instruction that can be performed by one processor, and described instruction is by least one place
It manages device to perform, so that at least one processor can：
Obtain the testing result of the environmental characteristic value in default working sensor region；
If the testing result not in the environmental characteristic value allowed band of the default sensor, shields described default
The testing result of sensor.
Compared with prior art, above-mentioned technical proposal provided in an embodiment of the present invention at least has the advantages that：
The method and electronic equipment provided in an embodiment of the present invention for improving automatic Pilot reliability, improving automatic Pilot can
By in the method for property, obtaining the testing result of the environmental characteristic value in default working sensor region first；If the detection knot
Fruit then shields the testing result of the default sensor not in the environmental characteristic value allowed band of the default sensor.
That is for each default sensor, if external environment characteristic value cannot be guaranteed that it exports the accuracy of result,
It does not use input of the testing result of the default sensor as subsequent module then, avoids using the detection with error message
As a result the accuracy of barrier perception and vehicle location is influenced, the reliability of automatic Pilot process is improved, it is hidden to eliminate safety
Suffer from.
Description of the drawings
Fig. 1 is the flow chart of the method for the raising automatic Pilot reliability described in the embodiment of the present invention 1；
Fig. 2 is the schematic diagram for the automobile for being equipped with laser radar and camera；
Fig. 3 is the flow chart of the method for the raising automatic Pilot reliability described in the embodiment of the present invention 2；
Fig. 4 is the flow chart of the method for the raising automatic Pilot reliability described in the embodiment of the present invention 3；
Fig. 5 is the flow chart of the method for the raising automatic Pilot reliability described in the embodiment of the present invention 4；
Fig. 6 is the functional block diagram of the device of the raising automatic Pilot reliability described in the embodiment of the present invention 6；
Fig. 7 is the functional block diagram of another device for improving automatic Pilot reliability described in the embodiment of the present invention 6；
Fig. 8 is the functional block diagram of the automated driving system described in the embodiment of the present invention 7；
Fig. 9 is the hardware knot for the electronic equipment that the method for improving automatic Pilot reliability is performed described in the embodiment of the present invention 9
Structure schematic diagram.
Specific embodiment
Embodiment 1
The present embodiment provides a kind of method for improving automatic Pilot reliability, applied in the automated driving system of vehicle,
As shown in Figure 1, include the following steps：
S101：Obtain the testing result of the environmental characteristic value in default working sensor region.Wherein described default sensing
Device is used for provide Data Detection during automatic Pilot, such as range sensor, velocity sensor, laser radar and camera
Deng.For each sensor, it has corresponding working region.By taking automobile shown in Fig. 2 as an example, top is equipped with laser
Radar 201, the working region of laser radar is centered on its installation site, and detectable in the range of 360 degree, detecting distance can
It is determined according to the different configurations of laser radar.Vehicle front and rear setting are fixed with camera 202,203, and front is taken the photograph
As for head 202, working region is immediately ahead of automobile in the range of 180 degree, and shooting distance is also according to different cameras
Model, configuration are different.The other sensors installed on body of a motor car also all have specific working region.And the ring
Border characteristic value can be that all can influence the environmental characteristic values of sensor detection results, such as illumination, (air is wet for rainwater
Degree), dense fog (visibility) etc..
S102：The testing result is judged whether in the environmental characteristic value allowed band of the default sensor, if
Step S103 is then performed, otherwise performs step S104.
S103：Obtain the testing result of the default sensor.
S104：Shield the testing result of the default sensor.
For each default sensor, all there are one the environmental characteristic values for ensureing its testing result accuracy to allow
Range, the allowed band can be the empirical datas obtained before manufacture by many experiments, when external environment characteristic value exists
When in allowed band, testing result error that default sensor obtains is smaller directly to be applied, and otherwise preset the detection of sensor
Resultant error is larger, if that can generate security risk using its input as automated driving system subsequent module, therefore
Directly masked.The shielding can include：The detection knot of the default sensor is not obtained in current operating cycle
Fruit；Alternatively, obtaining the testing result of the default sensor in current operating cycle, but it is not used to be used as and is driven automatically
Sail the input of system subsequent module.
Using the said program of the present embodiment, if external environment characteristic value cannot be guaranteed that it exports the accurate of result
Property, then input of the testing result of the default sensor as subsequent module is not used, is avoided and is used with error message
Testing result influences the accuracy of barrier perception and vehicle location, improves the reliability of automatic Pilot process, eliminates peace
Full hidden danger.
Embodiment 2
Sensor is preset on the basis of embodiment 1, described in the present embodiment as laser radar, the environmental characteristic value packet
Intensity of illumination is included, then its specific implementation is as shown in Figure 3：
S201：Obtain the testing result of the intensity of illumination in laser radar working region.The wherein workspace of laser radar
Domain is 360 degree of ranges around laser radar installation site.
S202：Judge whether the testing result of the intensity of illumination is more than in intensity of illumination when laser radar works normally
Threshold value is limited, if so then execute step S203, otherwise performs step S204.
S203：Shield the testing result of the laser radar.
S204：Obtain the testing result of the laser radar.
It, may when intensity of illumination is excessive because the testing result of laser radar receives being affected for intensity of illumination
The mistake of laser radar is caused to measure, therefore the intensity of illumination upper limit threshold for the laser radar that can prestore in automated driving system, when
When intensity of illumination is more than its upper limit threshold, the testing result of laser radar is shielded.The intensity of illumination upper limit threshold of laser radar can
It is provided by the manufacturer of production laser radar.Using the scheme of the present embodiment, using tool during being realized to avoid automatic Pilot
There is the testing result of the laser radar of large error, improve the precision of detection of obstacles and bus location.
Embodiment 3
Similar to scheme shown in Fig. 3, in the present embodiment, the default sensor can also be camera, and the environment is special
Value indicative includes intensity of illumination, then its specific implementation is as shown in Figure 4：
S301：The testing result of the intensity of illumination in camera working region is obtained, the camera working region is it
The region that shooting visual angle is covered.
S302：Judge whether the testing result of the intensity of illumination is more than intensity of illumination upper limit when camera works normally
Threshold value if so then execute step S305, otherwise performs step S303.
S303：Judge whether the testing result of the intensity of illumination is less than intensity of illumination lower limit when camera works normally
Threshold value if so then execute step S305, otherwise performs step S304.
S304：Obtain the testing result of the camera.
S305：Shield the testing result of the camera.
For camera, when intensity of illumination is too low, clearly shooting image can not be obtained, it is too high in intensity of illumination
When, it may result in the problems such as image obscures, is over-exposed.For each camera, corresponding illumination is strong when working normally
The upper limit threshold and lower threshold of degree can directly be provided to determine value by the producer of production camera.When getting camera work
After making the intensity of illumination in region, it is judged whether in the range of the permitted intensity of illumination of normal work of camera, if not
In the testing result for then shielding the camera.Using the scheme of the present embodiment, detection of obstacles can be realized to avoid automatic Pilot
With unclear image or over-exposed image are used in position fixing process, improve the essence of detection of obstacles and bus location
Degree.
Embodiment 4
The scheme provided in the present embodiment, the default sensor can also be camera, and the environmental characteristic value includes
Intensity of illumination, air humidity, visibility, as shown in figure 5, it includes the following steps：
S401：The testing result of intensity of illumination, air humidity and visibility in acquisition camera working region, it is described to take the photograph
The region covered as head working region for its shooting visual angle.
S402：Judge whether the testing result of the intensity of illumination is more than intensity of illumination upper limit when camera works normally
Threshold value if so then execute step S407, otherwise performs step S403.
S403：Judge whether the testing result of the intensity of illumination is less than intensity of illumination lower limit when camera works normally
Threshold value if so then execute step S407, otherwise performs step S404.
S404：Judge whether the testing result of the air humidity is more than air humidity upper limit when camera works normally
Threshold value if so then execute step S407, otherwise performs step S405.
S405：Judge whether the testing result of the visibility is less than visibility lower limit threshold when camera works normally
Value if so then execute step S407, otherwise performs step S406.
S406：Obtain the testing result of the camera.
S407：Shield the testing result of the camera.
Using the scheme in the present embodiment, for camera, consider intensity of illumination allowed band during its normal work,
Air humidity allowed band and visibility allowed band can realize that shooting is less than barrier, Qiang Guangshi at dark
In the case of over-exposed, rain when shooting image do not know and dense fog in the case of low visibility when, do not use camera
Input of the testing result as subsequent module, improve disturbance of perception object and the reliability of vehicle location in automatic Pilot.
Embodiment 5
The method provided in this embodiment for improving automatic Pilot reliability, on the basis of any of the above-described embodiment, may be used also
To include the following steps：
Obtain the quantity of the default sensor of shielding；If the quantity is more than given threshold, sends out to close and drive automatically
Sail the prompt message of system.The given threshold can carry out calibration acquisition according to vehicle before manufacture.Purpose is to ensure certainly
Dynamic control loop obtains enough information to realize that detection of obstacles and vehicle body position.For automated driving system, energy
Enough ensure that barrier perceives and the accuracy of vehicle location, it is necessary to be fixed against the testing result and testing result of default sensor
Fusion.If the testing result of most of default sensor can all be produced bigger effect in current environment, then illustrate simultaneously
Be not suitable for opening automated driving system, prompt message can be sent out at this time, driver to be prompted to be switched to pilot steering state.
Embodiment 6
The present embodiment provides a kind of device for improving automatic Pilot reliability, as shown in fig. 6, including：
Feature acquisition module 501 obtains the testing result of the environmental characteristic value in default working sensor region；Wherein institute
State default sensor for for automatic Pilot in the process Data Detection is provided, such as range sensor, velocity sensor, laser radar
With camera etc..For each sensor, it has corresponding working region.And the environmental characteristic value, can be all energy
Enough influence the environmental characteristic value of sensor detection results, such as illumination, rainwater (air humidity), dense fog (visibility) etc..
Processing module 502, if the testing result not in the environmental characteristic value allowed band of the default sensor,
Shield the testing result of the default sensor.The shielding can include：It is not obtained in current operating cycle described default
The testing result of sensor；Alternatively, obtaining the testing result of the default sensor in current operating cycle, but do not adopt
By the use of its input as automated driving system subsequent module.
Using the said program of the present embodiment, if external environment characteristic value cannot be guaranteed that it exports the accurate of result
Property, then input of the testing result of the default sensor as subsequent module is not used, is avoided and is used with error message
Testing result influences the accuracy of barrier perception and vehicle location, improves the reliability of automatic Pilot process, eliminates peace
Full hidden danger.
On the basis of said program, the default sensor is laser radar, and it is strong that the environmental characteristic value includes illumination
Degree, the processing module 502 are specifically used for：If the testing result of the intensity of illumination is more than when laser radar works normally
Intensity of illumination upper limit threshold then shields the testing result of the laser radar.Because the testing result of laser radar receives illumination
Intensity is affected, and when intensity of illumination is excessive, the mistake that may result in laser radar measures, therefore can be in automatic Pilot system
Prestore the intensity of illumination upper limit threshold of laser radar in system, when intensity of illumination is more than its upper limit threshold, shields laser radar
Testing result.The intensity of illumination upper limit threshold of laser radar can be provided by the manufacturer of production laser radar.Using the present embodiment
Scheme using the testing result of the laser radar with large error during being realized to avoid automatic Pilot, improves barrier
Hinder the precision of analyte detection and bus location.
On the basis of said program, the default sensor is camera, and the environmental characteristic value includes intensity of illumination,
The processing module 502, is specifically used for：If the illumination that the testing result of the intensity of illumination is more than when camera works normally is strong
Upper limit threshold is spent, then shields the testing result of the camera.If it is normal that the testing result of the intensity of illumination is less than camera
Intensity of illumination lower threshold during work then shields the testing result of the camera.For camera, in intensity of illumination
When too low, clearly shooting image can not be obtained, when intensity of illumination is too high, image is may result in and obscures, is over-exposed etc.
Problem.For each camera, the upper limit threshold of corresponding intensity of illumination and lower threshold, can to determine value when working normally
It is directly provided by the producer of production camera.After the intensity of illumination for getting camera working region, judge whether it is taking the photograph
In the range of the permitted intensity of illumination of the normal work of head, if the testing result for not shielding the camera if.Using this
The scheme of embodiment can be realized in detection of obstacles and position fixing process using unclear image or exposure to avoid automatic Pilot
The excessive image of light improves the precision of detection of obstacles and bus location.
On the basis of said program, the environmental characteristic value includes air humidity, and the processing module 502 is specific to use
In：If the air humidity upper limit threshold when testing result of the air humidity is worked normally more than camera, described in shielding
The testing result of camera.
Further, the environmental characteristic value includes visibility, and the processing module 502 is specifically used for：If described can see
The testing result of degree is less than visibility lower threshold when camera works normally, then shields the testing result of the camera.
Using the scheme in the present embodiment, for camera, consider intensity of illumination allowed band during its normal work,
Air humidity allowed band and visibility allowed band can realize that shooting is less than barrier, Qiang Guangshi at dark
In the case of over-exposed, rain when shooting image do not know and dense fog in the case of low visibility when, do not use camera
Input of the testing result as subsequent module, improve disturbance of perception object and the reliability of vehicle location in automatic Pilot.
Preferably, as shown in fig. 7, the device for improving automatic Pilot reliability further includes：
Quantity acquisition module 503 obtains the quantity of the default sensor of shielding；Reminding module 504, if the quantity is more than
Given threshold then sends out the prompt message that should close automated driving system.The given threshold can be according to vehicle in manufacture
Advance rower obtains surely.Purpose is to ensure that automated driving system obtains enough information to realize that detection of obstacles and vehicle body are determined
Position.For automated driving system, it can ensure that barrier perceives the accuracy with vehicle location, it is necessary to be fixed against default
The fusion of the testing result and testing result of sensor.If in current environment for the testing result of most of default sensor
It will produce bigger effect, then illustrate to be not appropriate for opening automated driving system, prompt message can be sent out at this time, driven with prompting
The person of sailing is switched to pilot steering state.
Embodiment 7
The present embodiment provides a kind of automated driving system, as shown in figure 8, including environmental characteristic value detection components 601, presetting
The device 603 of any raising automatic Pilot reliability described in sensor 602 and embodiment 5, wherein：
The environmental characteristic value detection components 601 are used to detect the environmental characteristic value in default 602 working region of sensor；
The device 603 for improving automatic Pilot reliability obtains the testing result of the environmental characteristic value detection components 601, if institute
Testing result is stated not in the environmental characteristic value allowed band of the default sensor 602, then shields the default sensor 602
Testing result.
Described in figure, environmental characteristic value detection components 601, default sensor 602 are according to its concrete application scene difference, number
Amount can be adjusted.Specifically, the default sensor is laser radar, and the environmental characteristic value detection components is are arranged on
State 360 degree of illumination detection sensors in preset range around laser radar installation site.The default sensor is camera,
The environmental characteristic value detection components include being set to the planar illumination inspection around the camera installation site in preset range
Sensor is surveyed, air humidity detection sensor around the camera installation site in preset range is set to, is set to institute
State visibility detection sensor around camera installation site in preset range etc..
The installation position of environmental characteristic value detection components and the relationship of default sensor mounting location, can be according to vehicle, tool
Body position etc. is adaptively adjusted, and is illustrated so that detection light is according to the influence to laser radar and camera as an example below：
One can be installed the top of automatic driving vehicle (being generally also installation site of the laser radar in vehicle) can
The optical sensor of 360 degree of vehicle periphery is observed, with the intensity of illumination around this sensor detection whole system, is sensed using this
The testing result of device can be as the intensity of illumination testing result of laser radar, camera.In system each laser radar and
All there are one the threshold values of the intensity of illumination under normal operation for camera.If the output result of optical sensor is shown at this time
The intensity of illumination of vehicle front has been more than the operation threshold of camera, but in the threshold range of laser radar, and vehicle
If the intensity of illumination of other angles can receive, then automated driving system can be automatic in subsequent perceptual positioning module
The testing result of shielding front camera, retains the camera result of other angles and all laser radar results.Because only
The testing result for having front camera is shielded, thus the reliability of entire automated driving system can't by too big influence,
So Function for Automatic Pilot can be with normal use.Once the testing result of optical sensor is shown because the factor of illumination causes
The laser radar and camera of multiple angles are all unable to normal use, then automated driving system in itself can be according to current sensor
State is to determine whether Function for Automatic Pilot can be performed normally.If automated driving system judges because the relationship of illumination makes
Excessive sensor cisco unity malfunction can then prompt to be not suitable for entering automatic Pilot state, and require artificially to take over.
If necessary to improve the reliability of entire automated driving system, then it is inadequate to be only equipped with an optical sensor
's.Preferred plan is to be equipped with optical sensor detection laser thunder in the installation site of each laser radar and camera
It reaches or the intensity of illumination of camera installation site.But it is not that each installation site is required for 360 degree of optical sensors.It is right
In the laser radar of 360 degree of detection ranges, 360 degree of optical sensor is necessary.But for camera, it is only necessary to
One normal work that camera is ensured that for the optical sensor in cam lens direction.
Automated driving system can be improved in said program under different light conditions to the shadow of laser radar and camera
The situation of sound, so as to improve the reliability and security of entire automated driving system.By installing one or more light on vehicle body
According to sensor, the intensity of illumination of automatic driving vehicle all angles is detected to coordinate laser radar and camera shooting in automated driving system
The service condition of head.Optical sensor is a kind of equipment that can measure intensity of illumination in real time.The four of automatic driving vehicle
Optical sensor is installed respectively in all different angles, you can to measure the intensity of illumination of vehicle's surroundings different angle.Automatically it drives
The system of sailing can be distributed according to light super-strengths different around, the conditional output result conduct for choosing laser radar and camera
The input of follow-up work module.If under certain intensity of illumination, laser radar and camera in system all cannot be normal
Export result.So automated driving system can prompt the system cisco unity malfunction under such light environment, so as to prompt to need
Function for Automatic Pilot is closed, pilot steering state is switched to, is further ensured that safe driving.
Embodiment 8
The embodiment of the present application provides a kind of nonvolatile computer storage media, and the computer storage media is stored with
Computer executable instructions, the raising automatic Pilot which can perform in above-mentioned any means embodiment can
By the method for property.
Embodiment 9
Fig. 9 is that the hardware configuration of the electronic equipment of the method provided in this embodiment for performing and improving automatic Pilot reliability shows
It is intended to, which includes：
One or more processors 701 and memory 702, in Fig. 9 by taking a processor 701 as an example.
The equipment for performing the method for improving automatic Pilot reliability can also include：Input unit 703 and output device
704。
Processor 701, memory 702, input unit 703 and output device 704 can pass through bus or other modes
It connects, in Fig. 9 for being connected by bus.
Memory 702 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storing non-volatile software journey
Sequence, non-volatile computer executable program and module, such as the side of the raising automatic Pilot reliability in the embodiment of the present application
Corresponding program instruction/the module of method is (for example, attached feature acquisition module 501 shown in fig. 6, processing module 502, quantity obtain mould
Block 503, reminding module 504).Processor 701 is by running the non-volatile software program being stored in memory 702, instruction
And module, various function application and data processing so as to execute server realize the raising of above method embodiment
The method of automatic Pilot reliability.
Memory 702 can include storing program area and storage data field, wherein, storing program area can store operation system
System, the required application program of at least one function；Storage data field can be stored according to the device for improving automatic Pilot reliability
Use created data etc..In addition, memory 702 can include high-speed random access memory, can also include non-easy
The property lost memory, a for example, at least disk memory, flush memory device or other non-volatile solid state memory parts.One
In a little embodiments, memory 702 is optional including relative to the remotely located memory of processor 701, these remote memories can
To pass through network connection to the device for improving automatic Pilot reliability.The example of above-mentioned network includes but not limited to internet, enterprise
Industry intranet, LAN, mobile radio communication and combinations thereof.
Input unit 703 can receive the number of input or character information and generate with improving automatic Pilot reliability
The key signals that the user setting and function control of device are related input.Output device 704 may include that display screen etc. shows equipment.
One or more of modules are stored in the memory 702, when by one or more of processors
During 701 execution, the method for improving automatic Pilot reliability in above-mentioned any means embodiment is performed.
The said goods can perform the method that the embodiment of the present application is provided, and has the corresponding function module of execution method and has
Beneficial effect.The not technical detail of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present application is provided.
The electronic equipment of the embodiment of the present invention exists in a variety of forms, including but not limited to:
(1) mobile communication equipment:The characteristics of this kind equipment is that have mobile communication function, and to provide speech, data
It communicates as main target.This Terminal Type includes:Smart mobile phone (such as iPhone), multimedia handset, functional mobile phone and low
Hold mobile phone etc..
(2) super mobile personal computer equipment:This kind equipment belongs to the scope of personal computer, there is calculating and processing work(
Can, generally also have mobile Internet access characteristic.This Terminal Type includes:PDA, MID and UMPC equipment etc., such as iPad.
(3) portable entertainment device:This kind equipment can show and play multimedia content.The kind equipment includes:Audio,
Video player (such as iPod), handheld device, e-book and intelligent toy and portable car-mounted navigation equipment.
(4) server:The equipment for providing the service of calculating, the composition of server are total including processor, hard disk, memory, system
Line etc., server is similar with general computer architecture, but due to needing to provide highly reliable service, in processing energy
Power, stability, reliability, safety, scalability, manageability etc. are more demanding.
(5) other have the function of the electronic device of data interaction.
The apparatus embodiments described above are merely exemplary, wherein the unit illustrated as separating component can
To be or may not be physically separate, the component shown as unit may or may not be physics list
Member, you can be located at a place or can also be distributed in multiple network element.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
Technical solution is stated substantially in other words to embody the part that the prior art contributes in the form of software product, it should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers
It enables and (can be personal computer, server or the network equipment etc.) so that computer equipment is used to perform each implementation
Method described in certain parts of example or embodiment.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in foregoing embodiments or carry out equivalent replacement to which part technical characteristic；
And these modification or replace, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (8)
- A kind of 1. method for improving automatic Pilot reliability, which is characterized in that include the following steps：Obtain the testing result of the environmental characteristic value in default working sensor region；If the testing result in the environmental characteristic value allowed band of the default sensor, does not shield the default sensing The testing result of device.
- 2. the method according to claim 1 for improving automatic Pilot reliability, which is characterized in that the default sensor is Laser radar, the environmental characteristic value include intensity of illumination, if the testing result is not in the environment of default sensor spy In value indicative allowed band, then the testing result of the default sensor is shielded, specially：If the testing result of the intensity of illumination is more than intensity of illumination upper limit threshold when laser radar works normally, institute is shielded State the testing result of laser radar.
- 3. the method according to claim 1 for improving automatic Pilot reliability, which is characterized in that the default sensor is Camera, the environmental characteristic value includes intensity of illumination, if the testing result is not in the environmental characteristic of the default sensor It is worth in allowed band, then shields the testing result of the default sensor, specially：If the intensity of illumination upper limit threshold when testing result of the intensity of illumination is worked normally more than camera, described in shielding The testing result of camera.
- 4. the method according to claim 3 for improving automatic Pilot reliability, which is characterized in that further include：If the intensity of illumination lower threshold when testing result of the intensity of illumination is worked normally less than camera, described in shielding The testing result of camera.
- 5. the method according to claim 4 for improving automatic Pilot reliability, which is characterized in that the environmental characteristic value packet Include air humidity, if the testing result not in the environmental characteristic value allowed band of the default sensor, shielding described in The testing result of default sensor, specially：If the air humidity upper limit threshold when testing result of the air humidity is worked normally more than camera, described in shielding The testing result of camera.
- 6. the method according to claim 5 for improving automatic Pilot reliability, which is characterized in that the environmental characteristic value packet Visibility is included, if the testing result shields described pre- not in the environmental characteristic value allowed band of the default sensor If the testing result of sensor, specially：If the testing result of the visibility is less than visibility lower threshold when camera works normally, the camera shooting is shielded The testing result of head.
- 7. according to claim 1-6 any one of them improve automatic Pilot reliability method, which is characterized in that further include as Lower step：Obtain the quantity of the default sensor of shielding；If the quantity is more than given threshold, the prompt message that should close automated driving system is sent out.
- 8. a kind of electronic equipment, which is characterized in that including：At least one processor；AndThe memory being connect at least one processor communication；Wherein,The memory is stored with the instruction that can be performed by one processor, and described instruction is by least one processor It performs, so that at least one processor can：Obtain the testing result of the environmental characteristic value in default working sensor region；If the testing result in the environmental characteristic value allowed band of the default sensor, does not shield the default sensing The testing result of device.
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