CN111959522A - Vehicle and laser radar limping control method and device - Google Patents
Vehicle and laser radar limping control method and device Download PDFInfo
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- CN111959522A CN111959522A CN201910419496.9A CN201910419496A CN111959522A CN 111959522 A CN111959522 A CN 111959522A CN 201910419496 A CN201910419496 A CN 201910419496A CN 111959522 A CN111959522 A CN 111959522A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 206010017577 Gait disturbance Diseases 0.000 title abstract description 7
- 238000012545 processing Methods 0.000 claims abstract description 31
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000003247 decreasing effect Effects 0.000 claims 4
- 230000009467 reduction Effects 0.000 abstract description 2
- 238000009825 accumulation Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000017525 heat dissipation Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000030175 lameness Diseases 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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- B60W2420/408—
Abstract
The invention relates to a limping control method and a limping control device for a vehicle and a laser radar, wherein the working state of the laser radar is judged by combining a temperature value and a corresponding temperature rise value of a laser radar rotating motor or a laser radar central processing unit, and corresponding processing is carried out according to the laser radar temperature value and the laser radar temperature rise value, and the processing comprises the following steps: the control laser radar frequency reduction, the control shrink laser radar's scanning angle or control laser radar shut down etc. operation to fundamentally solves the laser radar that the too high temperature caused and can't work, the unable problem of work of vehicle even, thereby when guaranteeing laser radar's security, has improved the security that the vehicle travel.
Description
Technical Field
The invention belongs to the technical field of laser radars, and particularly relates to a limping control method and device for a vehicle and a laser radar.
Background
At present, with the research of intelligent driving and safety technology direction, the use of laser radar is more and more common. The vehicle can not only finish the identification of the forward obstacle and the longitudinal control of self-adaptive cruise and the like by using the laser radar, but also can perform grid modeling on the environment or finish an SLAM (Simultaneous Localization and Mapping) algorithm, thereby achieving the purposes of automatic obstacle avoidance and accurate positioning.
In the use process of the laser radar, the laser radar often has a fault, especially, the laser radar rotating motor can not radiate heat after working for a long time in a high-temperature environment, or the laser radar is invalid due to too much heat accumulation, so that a decision system in a vehicle has to require the vehicle to stop running, even partial functions in the vehicle are closed (such as closing a laser SLAM algorithm and a grating algorithm), and the situations of losing the obstacle avoidance and positioning functions occur, and finally the vehicle can not run normally.
In order to solve the problems, the physical environment where the laser radar is located is generally improved, for example, a ventilation grid of the laser radar is added, or a material with a good heat dissipation effect is replaced, so that the problem of heat accumulation of the laser radar is not fundamentally solved, the heat dissipation effect is poor, the laser radar is easy to lose effectiveness, the vehicle loses an obstacle avoidance function, and particularly, the automatic driving vehicle cannot normally run due to the fact that the automatic driving vehicle cannot normally run.
Disclosure of Invention
The limping control method of the vehicle laser radar is used for solving the problem that the laser radar cannot work due to heat accumulation of the laser radar when the laser radar is radiated by improving the environment where the laser radar is located; the lameness control device of the vehicle laser radar is used for solving the problem that the laser radar cannot work due to heat accumulation of the laser radar when the laser radar is radiated by improving the environment where the laser radar is located; the invention relates to a vehicle, which is used for solving the problem that a laser radar cannot work due to heat accumulation of the laser radar when heat dissipation is carried out by improving the environment where the laser radar is located.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention discloses a limp control method of a vehicle laser radar, which comprises the following steps:
detecting a laser radar temperature value, wherein the laser radar temperature value is a laser radar rotating motor temperature value or a laser radar central processing unit temperature value, and comparing the laser radar temperature value with a corresponding first temperature threshold value; if the laser radar temperature value is smaller than or equal to the corresponding first temperature threshold value, detecting a laser radar temperature rise value; if the temperature rise value of the laser radar is larger than the corresponding first temperature rise threshold value and smaller than or equal to the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor; if the temperature rise value of the laser radar is larger than the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor and controlling to shrink the scanning angle of the laser radar rotating motor; the first temperature rise threshold is less than the second temperature rise threshold; the laser radar temperature rise value is the temperature rise value of a laser radar rotating motor corresponding to the laser radar temperature value or the temperature rise value of a laser radar central processing unit; if the laser radar temperature value is larger than the corresponding first temperature threshold value, controlling to reduce the frequency of the laser radar rotating motor or controlling the laser radar to shut down; and the temperature rise value of the laser radar is the variation of the temperature value of the laser radar in the preset time.
The invention relates to a limp home control device of a vehicle laser radar, which comprises a memory and a processor, wherein the processor is used for executing instructions stored in the memory to realize the following method:
detecting a laser radar temperature value, wherein the laser radar temperature value is a laser radar rotating motor temperature value or a laser radar central processing unit temperature value, and comparing the laser radar temperature value with a corresponding first temperature threshold value; if the laser radar temperature value is smaller than or equal to the corresponding first temperature threshold value, detecting a laser radar temperature rise value; if the temperature rise value of the laser radar is larger than the corresponding first temperature rise threshold value and smaller than or equal to the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor; if the temperature rise value of the laser radar is larger than the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor and controlling to shrink the scanning angle of the laser radar rotating motor; the first temperature rise threshold is less than the second temperature rise threshold; the laser radar temperature rise value is the temperature rise value of a laser radar rotating motor corresponding to the laser radar temperature value or the temperature rise value of a laser radar central processing unit; if the laser radar temperature value is larger than the corresponding first temperature threshold value, controlling to reduce the frequency of the laser radar rotating motor or controlling the laser radar to shut down; and the temperature rise value of the laser radar is the variation of the temperature value of the laser radar in the preset time.
The invention relates to a vehicle, which comprises a vehicle body and further comprises a limp home control device of a vehicle laser radar, wherein the device comprises a memory and a processor, and the processor is used for executing instructions stored in the memory to realize the following method:
detecting a laser radar temperature value, wherein the laser radar temperature value is a laser radar rotating motor temperature value or a laser radar central processing unit temperature value, and comparing the laser radar temperature value with a corresponding first temperature threshold value; if the laser radar temperature value is smaller than or equal to the corresponding first temperature threshold value, detecting a laser radar temperature rise value; if the temperature rise value of the laser radar is larger than the corresponding first temperature rise threshold value and smaller than or equal to the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor; if the temperature rise value of the laser radar is larger than the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor and controlling to shrink the scanning angle of the laser radar rotating motor; the first temperature rise threshold is less than the second temperature rise threshold; the laser radar temperature rise value is the temperature rise value of a laser radar rotating motor corresponding to the laser radar temperature value or the temperature rise value of a laser radar central processing unit; if the laser radar temperature value is larger than the corresponding first temperature threshold value, controlling to reduce the frequency of the laser radar rotating motor or controlling the laser radar to shut down; and the temperature rise value of the laser radar is the variation of the temperature value of the laser radar in the preset time.
The beneficial effects are as follows: the invention judges the working state of the laser radar by combining the temperature value of the laser radar rotating motor or the laser radar central processing unit and the corresponding temperature rise value, and carries out corresponding processing according to the laser radar temperature value and the laser radar temperature rise value, and the processing comprises the following steps: the control laser radar frequency reduction, the control shrink laser radar's scanning angle or control laser radar shut down etc. operation to fundamentally solves the laser radar that the too high temperature caused and can't work, the unable problem of operation of vehicle even, thereby when guaranteeing the laser radar security, has improved the security that the vehicle went.
As further improvement of the method, the device and the vehicle, in order to further improve the safety of the laser radar, if the laser temperature value is greater than the corresponding first temperature threshold value and less than or equal to the corresponding second temperature threshold value, the frequency of the laser radar rotating motor is controlled to be reduced; if the laser radar temperature value is larger than the corresponding second temperature threshold value, controlling the laser radar to shut down; the first temperature threshold is less than the second temperature threshold.
As a further improvement of the method and the device, when the laser radar temperature rise value is greater than the corresponding first temperature rise threshold value and less than or equal to the corresponding second temperature rise threshold value, the amplitude of controlling to reduce the frequency of the laser radar rotating motor is smaller than when the laser radar temperature rise value is greater than the corresponding second temperature rise threshold value. When the temperature rise value of the laser radar is large, the frequency of the laser radar rotating motor is reduced relatively more, so that the safety of the laser radar is further improved.
As a further improvement of the method, in order to further improve the effectiveness of detecting the laser radar temperature value and the temperature rise value, before detecting the laser radar temperature value, the method further comprises the step of judging whether the laser radar has a fault: and if the laser radar is not in fault, detecting the laser radar temperature value.
As a further improvement of the method, in order to improve the effectiveness of the laser radar fault judgment, whether the laser radar has a fault or not is judged by detecting a laser radar rotating motor or an optical component: and if the laser radar rotating motor fails or the optical component fails, judging that the laser radar fails.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The embodiment of the device is as follows:
the limp home control device of the vehicle lidar of the embodiment includes a processor (hereinafter referred to as a decision processor) and a memory, and the decision processor is capable of executing instructions stored in the memory to implement the limp home control method of the vehicle lidar of the present invention.
The device sets up in the vehicle of installing laser radar, and when laser radar was in under the high temperature mode, laser radar's heat dissipation was relatively poor, and laser radar central processing unit (hereinafter be referred to central processing unit) and laser radar rotating electrical machines (hereinafter be referred to rotating electrical machines) can't dispel the heat well, if laser radar continued work will cause the sensor to break down this moment, will lead to the unable long-time work of vehicle. In order to enable the laser radar to work for as long as possible, the limping control method of the vehicle laser radar can be adopted to detect the temperature value and the corresponding temperature rise value of the central processing unit or the rotating motor of the laser radar in real time and carry out corresponding processing according to the temperature value and the corresponding temperature rise value. The method is described in further detail below with reference to fig. 1.
Step 1, detecting whether the laser radar has a fault. If the laser radar is in fault, the temperature value or the temperature rise value of the central processing unit or the rotating motor does not need to be detected, and if the laser radar is not in fault, the step 2 is executed.
Generally speaking, laser radar divides into two parts, and one part is the rotating electrical machines, is the rotatory key of laser radar wide-angle, and another part is optical components, so judge whether laser radar breaks down through rotating electrical machines or optical components: and if the rotating motor fails or the optical component fails, judging that the laser radar fails. The rotating motor can transmit a fault code of the rotating motor, the optical element can perform self-detection and transmit the fault condition of the self-detection, the decision processor receives the fault code transmitted by the rotating motor and the fault condition transmitted by the optical element, when the rotating motor or the optical element is judged to be in fault, the decision processor immediately makes a braking instruction to enable the vehicle to be incapable of running, meanwhile, a driver is prompted through a human-computer interaction interface (which can be an existing instrument panel in the vehicle) in the vehicle, and the reason that the vehicle cannot continue to run is indicated that the laser radar has a problem.
And 2, detecting a laser radar temperature value m, wherein the laser radar temperature value is a temperature value of the rotating motor or a temperature value of the central processing unit, and comparing the laser radar temperature value with a corresponding first temperature threshold value m1 and a corresponding second temperature threshold value m2 (m1 is less than m 2). Here, "corresponding" means that the rotating electrical machine corresponds to a first temperature threshold m1, the central processing unit corresponds to a first temperature threshold m1, similarly, the rotating electrical machine corresponds to a second temperature threshold m2, and the central processing unit corresponds to a second temperature threshold m2, where the two first temperature thresholds m1 may be the same value or different values, and the two second temperature thresholds m2 may be the same value or different values, and may be set according to requirements.
And if the laser radar temperature value m is smaller than or equal to the corresponding first temperature threshold value m1, namely m is smaller than or equal to m1, the temperature of the laser radar is normal, the step 3 is executed, and the temperature rise value of the laser radar is continuously judged.
If the laser radar temperature value m is larger than the corresponding first temperature threshold value m1 and smaller than or equal to the corresponding second temperature threshold value m2, namely m1 is larger than m and is smaller than or equal to m2, the decision processor sends an instruction to the rotating electrical machine to control and reduce the frequency of the laser radar rotating electrical machine, for example, the laser radar rotating electrical machine can work at about 85% of the normal working frequency, and specific parameters are calibrated according to actual conditions.
And if the laser radar temperature value m is greater than the corresponding second temperature threshold value m2, namely m is greater than m2, the laser radar is controlled to be powered off when the temperature of the laser radar is too high, the decision processor gives a prompt to a driver through a human-computer interaction interface, and the vehicle does not have a driving function any more.
And 3, continuously detecting the temperature rise value t of the laser radar, wherein the temperature rise value t of the laser radar is the temperature value of the rotating motor or the temperature value of the central processing unit correspondingly, and comparing the temperature rise value t of the laser radar with a corresponding first temperature rise threshold value t1 and a corresponding second temperature rise threshold value t2 (t1 is less than t 2). Here, "corresponding" means that the rotating electrical machine corresponds to a first temperature rise threshold t1, the central processing unit corresponds to a first temperature rise threshold t1, similarly, the rotating electrical machine corresponds to a second temperature rise threshold t2, the central processing unit corresponds to a second temperature rise threshold t2, the two first temperature rise thresholds t1 may be the same value or different values, and the two second temperature rise thresholds t2 may be the same value or different values, and may be set according to requirements; if the temperature value of the rotating motor is detected in the step 2, the laser radar temperature rise value is the temperature rise value of the rotating motor; if the detected temperature value in step 2 is the temperature value of the central processing unit, the laser radar temperature rise value should be the temperature rise value of the central processing unit.
If the temperature rise value t of the laser radar is smaller than or equal to the corresponding first temperature rise threshold value t1, namely t is smaller than or equal to t1, it is indicated that the temperature value and the temperature rise value of the laser radar are both within a normal controllable range at the moment, and the vehicle can normally run.
If the laser radar temperature value t is larger than the corresponding first temperature rise threshold value t1 and smaller than or equal to the corresponding second temperature rise threshold value t2, namely t1 is larger than t and smaller than t2, the decision processor sends an instruction to the rotating electrical machine to control and reduce the frequency of the rotating electrical machine, for example, the rotating electrical machine can be controlled to work at about 90% of the normal working frequency, and specific parameters are calibrated according to actual conditions. Under the condition, the detection of the laser radar to the relative distance of the forward obstacle and the application of the laser radar point cloud SLAM algorithm are not influenced, and the decision algorithm can work normally.
If the laser radar temperature value t is larger than the corresponding second temperature rise threshold value t2, namely t is larger than t2, the frequency of the laser radar rotating motor is controlled to be reduced and the scanning angle of the laser radar rotating motor is controlled to be contracted for safety.
For example, the rotating electrical machine can be controlled to work at about 70% of the normal working frequency, in this case, the detection of the relative distance and the relative speed of the forward obstacle by the laser radar is not changed, but the point cloud SLAM algorithm using the laser radar is affected, because the density of the point cloud directly affects the clustering effect of the SLAM algorithm, the positioning algorithm using the laser radar is invalid, and at the moment, the decision algorithm has problems due to laser positioning, and under the condition that the inertial navigation is invalid, a driver is prompted to lose positioning and brake emergently.
Meanwhile, the scanning angle of the rotary motor can be controlled to be contracted to half of the original scanning angle, the power of the rotary motor is further reduced, the purpose that the laser radar is prevented from being damaged due to overhigh temperature rise is achieved, at the moment, a decision algorithm is problematic due to laser positioning, and under the condition that inertial navigation is invalid, a driver is prompted to lose positioning and brake emergently, and under the condition that the inertial navigation is normal, the obstacle avoidance function of the vehicle exits due to the fact that the scanning angle of the rotary motor is narrowed, and the decision processor is required to send an instruction to the whole vehicle to tell the driver that the vehicle does not have obstacle avoidance capability at present.
The scanning angle of the rotating motor can be controlled to shrink by 15%, the obstacle avoidance range is reduced at the moment, and under the condition of normal positioning, a driver is prompted to reduce the obstacle avoidance angle, so that the situation that the driver can see that the obstacle can be bypassed but the obstacle avoidance is not carried out can occur.
And controlling the amplitude of reducing the frequency of the laser radar rotating motor under the condition that t is more than t2 and is more than t1 and less than or equal to t 2.
The method comprises the following steps:
the embodiment provides a limp home control method of a vehicle laser radar, which is described in detail in the device embodiment and is not described herein again.
The embodiment of the vehicle is as follows:
this embodiment provides a vehicle comprising a limp home control device for a vehicle lidar, which has been described in detail in the device embodiments and will not be described in detail here.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A limp home control method of a vehicle laser radar is characterized by comprising the following steps:
detecting a laser radar temperature value, wherein the laser radar temperature value is a laser radar rotating motor temperature value or a laser radar central processing unit temperature value, and comparing the laser radar temperature value with a corresponding first temperature threshold value;
if the laser radar temperature value is smaller than or equal to the corresponding first temperature threshold value, detecting a laser radar temperature rise value; if the temperature rise value of the laser radar is larger than the corresponding first temperature rise threshold value and smaller than or equal to the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor; if the temperature rise value of the laser radar is larger than the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor and controlling to shrink the scanning angle of the laser radar rotating motor; the first temperature rise threshold is less than the second temperature rise threshold; the laser radar temperature rise value is the temperature rise value of a laser radar rotating motor corresponding to the laser radar temperature value or the temperature rise value of a laser radar central processing unit;
if the laser radar temperature value is larger than the corresponding first temperature threshold value, controlling to reduce the frequency of the laser radar rotating motor or controlling the laser radar to shut down;
and the temperature rise value of the laser radar is the variation of the temperature value of the laser radar in the preset time.
2. The limp home control method of a vehicle lidar according to claim 1, wherein if the laser temperature value is greater than the corresponding first temperature threshold value and less than or equal to the corresponding second temperature threshold value, controlling the frequency of the lidar rotating motor to be decreased; if the laser radar temperature value is larger than the corresponding second temperature threshold value, controlling the laser radar to shut down; the first temperature threshold is less than the second temperature threshold.
3. The limp home control method of a vehicle lidar of claim 1, wherein the magnitude of controlling decreasing the frequency of the lidar rotary motor when the lidar temperature rise value is greater than the corresponding first temperature rise threshold and less than or equal to the corresponding second temperature rise threshold is less than the magnitude of controlling decreasing the frequency of the lidar rotary motor when the lidar temperature rise value is greater than the corresponding second temperature rise threshold.
4. The limp home control method of a vehicle lidar according to claim 1, further comprising the step of determining whether the lidar is malfunctioning prior to detecting the lidar temperature value: and if the laser radar is not in fault, detecting the laser radar temperature value.
5. The limp home control method of the vehicle lidar according to claim 4, wherein whether the lidar is malfunctioning is determined by detecting a lidar rotating motor or an optical component: and if the laser radar rotating motor fails or the optical component fails, judging that the laser radar fails.
6. A limp home control device of a vehicle lidar, the device comprising a memory and a processor for executing instructions stored in the memory to implement a method comprising:
detecting a laser radar temperature value, wherein the laser radar temperature value is a laser radar rotating motor temperature value or a laser radar central processing unit temperature value, and comparing the laser radar temperature value with a corresponding first temperature threshold value;
if the laser radar temperature value is smaller than or equal to the corresponding first temperature threshold value, detecting a laser radar temperature rise value; if the temperature rise value of the laser radar is larger than the corresponding first temperature rise threshold value and smaller than or equal to the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor; if the temperature rise value of the laser radar is larger than the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor and controlling to shrink the scanning angle of the laser radar rotating motor; the first temperature rise threshold is less than the second temperature rise threshold; the laser radar temperature rise value is the temperature rise value of a laser radar rotating motor corresponding to the laser radar temperature value or the temperature rise value of a laser radar central processing unit;
if the laser radar temperature value is larger than the corresponding first temperature threshold value, controlling to reduce the frequency of the laser radar rotating motor or controlling the laser radar to shut down;
and the temperature rise value of the laser radar is the variation of the temperature value of the laser radar in the preset time.
7. The limp home control device for a vehicle lidar according to claim 6, wherein if the laser temperature value is greater than the corresponding first temperature threshold value and equal to or less than the corresponding second temperature threshold value, the frequency of the lidar rotating motor is controlled to be decreased; if the laser radar temperature value is larger than the corresponding second temperature threshold value, controlling the laser radar to shut down; the first temperature threshold is less than the second temperature threshold.
8. The limp home control device of a vehicle lidar of claim 6, wherein the magnitude of the decrease in the frequency of the lidar rotary motor when the lidar temperature rise value is greater than the corresponding first temperature rise threshold value and less than or equal to the corresponding second temperature rise threshold value is less than the magnitude of the decrease in the frequency of the lidar rotary motor when the lidar temperature rise value is greater than the corresponding second temperature rise threshold value.
9. A vehicle comprising a vehicle body, characterized in that it further comprises a limp home control device of a vehicle lidar, the device comprising a memory and a processor for executing instructions stored in the memory to implement the method of:
detecting a laser radar temperature value, wherein the laser radar temperature value is a laser radar rotating motor temperature value or a laser radar central processing unit temperature value, and comparing the laser radar temperature value with a corresponding first temperature threshold value;
if the laser radar temperature value is smaller than or equal to the corresponding first temperature threshold value, detecting a laser radar temperature rise value; if the temperature rise value of the laser radar is larger than the corresponding first temperature rise threshold value and smaller than or equal to the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor; if the temperature rise value of the laser radar is larger than the corresponding second temperature rise threshold value, controlling to reduce the frequency of the laser radar rotating motor and controlling to shrink the scanning angle of the laser radar rotating motor; the first temperature rise threshold is less than the second temperature rise threshold; the laser radar temperature rise value is the temperature rise value of a laser radar rotating motor corresponding to the laser radar temperature value or the temperature rise value of a laser radar central processing unit;
if the laser radar temperature value is larger than the corresponding first temperature threshold value, controlling to reduce the frequency of the laser radar rotating motor or controlling the laser radar to shut down;
and the temperature rise value of the laser radar is the variation of the temperature value of the laser radar in the preset time.
10. The vehicle according to claim 9, characterized in that if the laser temperature value is greater than the corresponding first temperature threshold value and equal to or less than the corresponding second temperature threshold value, the frequency of the laser radar rotating electrical machine is controlled to be reduced; if the laser radar temperature value is larger than the corresponding second temperature threshold value, controlling the laser radar to shut down; the first temperature threshold is less than the second temperature threshold.
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