CN113370911B - Pose adjustment method, device, equipment and medium of vehicle-mounted sensor - Google Patents
Pose adjustment method, device, equipment and medium of vehicle-mounted sensor Download PDFInfo
- Publication number
- CN113370911B CN113370911B CN202110836337.6A CN202110836337A CN113370911B CN 113370911 B CN113370911 B CN 113370911B CN 202110836337 A CN202110836337 A CN 202110836337A CN 113370911 B CN113370911 B CN 113370911B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- pose
- mounted sensor
- pose adjustment
- target vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 64
- 230000008447 perception Effects 0.000 claims abstract description 50
- 230000007613 environmental effect Effects 0.000 claims abstract description 43
- 230000015654 memory Effects 0.000 claims description 19
- 238000003860 storage Methods 0.000 claims description 11
- 230000000903 blocking effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 12
- 238000004458 analytical method Methods 0.000 description 8
- 230000035945 sensitivity Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The disclosure provides a pose adjusting method, device, equipment and medium of a vehicle-mounted sensor, and relates to the technical field of automatic driving. The method comprises the following steps: acquiring a current perception result of a vehicle running environment, wherein the current perception result comprises identification confidence of environment information; if the current sensing result does not meet the driving sensing requirement, judging whether an obstacle in the driving environment blocks the driving path of the vehicle or not; if the obstacle blocks the running path of the vehicle and the identification confidence of the environmental information in the running environment is lower than a preset threshold, a pose adjustment instruction for indicating the target vehicle-mounted sensor to adjust the pose is sent out; or if the obstacle does not obstruct the running path of the vehicle, the distance between the obstacle and the vehicle is smaller than a distance threshold value, and the recognition confidence of the environmental information in the running environment is lower than a preset threshold value, a pose adjustment instruction for indicating the target vehicle-mounted sensor to carry out pose adjustment is sent. The embodiment of the disclosure can improve the driving safety.
Description
The present disclosure is a divisional application of application number 201911051040.8.
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to the technical field of automatic driving, and particularly relates to a pose adjusting method, device, equipment and medium of a vehicle-mounted sensor.
Background
The sensor is a main means for the automatic driving vehicle to acquire the environmental information, and is an important basis for the decision-making module on the automatic driving vehicle to generate driving decisions.
At present, sensors deployed on an automatic driving vehicle are deployed according to fixed positions, and the positions of the sensors cannot be changed randomly in the running process of the vehicle, so that the confidence of the perceived and identified result of the automatic driving vehicle is easily reduced in a certain environment, and the safe running of the automatic driving vehicle is influenced.
Disclosure of Invention
The embodiment of the application discloses a pose adjusting method, a pose adjusting device, pose adjusting equipment and a pose adjusting medium for a vehicle-mounted sensor, so that the perceivable range of the vehicle-mounted sensor is improved, the running environment is accurately perceived, and the running safety is improved.
In a first aspect, an embodiment of the present application discloses a pose adjustment method of a vehicle-mounted sensor, including:
acquiring a current perception result of a vehicle running environment, wherein the current perception result comprises identification confidence of environment information;
If the current sensing result does not meet the driving sensing requirement, judging whether an obstacle in the driving environment blocks the driving path of the vehicle or not;
if the obstacle blocks the running path of the vehicle and the identification confidence of the environmental information in the running environment is lower than a preset threshold, a pose adjustment instruction for indicating the target vehicle-mounted sensor to adjust the pose is sent out; or alternatively
And if the obstacle does not obstruct the running path of the vehicle, the distance between the obstacle and the vehicle is smaller than a distance threshold value, and the recognition confidence of the environmental information in the running environment is lower than the preset threshold value, sending a pose adjustment instruction for indicating the target vehicle-mounted sensor to carry out pose adjustment.
In a second aspect, the embodiment of the application also discloses a pose adjustment device of the vehicle-mounted sensor, which comprises a current sensing result acquisition module and a pose adjustment instruction sending module:
the current perception result acquisition module is used for acquiring a current perception result of a vehicle running environment, wherein the current perception result comprises identification confidence of environment information;
the pose adjustment instruction sending module comprises:
A travel path blocking judging unit configured to judge whether the obstacle blocks a travel path of the vehicle if the current sensing result does not meet a travel sensing requirement;
a first pose adjustment instruction sending unit, configured to send a pose adjustment instruction for instructing the target vehicle-mounted sensor to perform pose adjustment if the obstacle blocks a driving path of the vehicle and the recognition confidence of environmental information in the driving environment is lower than a preset threshold;
and the second pose adjustment instruction sending unit is used for sending a pose adjustment instruction for indicating the target vehicle-mounted sensor to carry out pose adjustment if the obstacle does not obstruct the running path of the vehicle, the distance between the obstacle and the vehicle is smaller than a distance threshold value, and the identification confidence of the environmental information in the running environment is lower than the preset threshold value.
In a third aspect, an embodiment of the present application further discloses an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for pose adjustment of an in-vehicle sensor according to any of the embodiments of the present application.
In a fourth aspect, embodiments of the present application further disclose a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the pose adjustment method of the in-vehicle sensor according to any of the embodiments of the present application.
According to the technology disclosed by the invention, the driving safety can be improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for better understanding of the present solution and do not constitute a limitation of the present application. Wherein:
fig. 1 is a flowchart of a pose adjustment method of an in-vehicle sensor according to an embodiment of the present application;
FIG. 2 is a flow chart of another method of adjusting the pose of an in-vehicle sensor according to embodiments disclosed herein;
FIG. 3 is a schematic diagram of a blind spot of a vehicle sensor according to an embodiment of the disclosure due to obstruction by an obstacle;
FIG. 4 is a flow chart of a method of pose adjustment of a further in-vehicle sensor according to an embodiment of the present application;
Fig. 5 is a schematic structural view of a pose adjustment device of an in-vehicle sensor according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
FIG. 1 is a flow chart of a method for adjusting the pose of an in-vehicle sensor according to an embodiment of the present application, which is applicable to determining whether to dynamically adjust the pose of the in-vehicle sensor based on the perceived result of the driving environment of a vehicle during the driving of an autonomous vehicle, the pose adjustment including position adjustment and rotation angle adjustment, the pose of each in-vehicle sensor having 6 degrees of freedom, for example, under the coordinates of the vehicle body, the method can be used (x i ,y i ,z i ,α i ,β i ,φ i ) And (3) representing. The method of the embodiment can be executed by a pose adjusting device of the vehicle-mounted sensor, and the device can be realized in a software and/or hardware mode and can be integrated on a vehicle control system or vehicle-mounted equipment.
As shown in fig. 1, the pose adjustment method of the vehicle-mounted sensor disclosed in the embodiment may include:
s101, acquiring a current perception result of a vehicle running environment, wherein the current perception result comprises at least one of a perception area of a target vehicle-mounted sensor, a perception blind area of the target vehicle-mounted sensor and an identification confidence of environment information.
The driving environment refers to an objective environment in which an autonomous vehicle performs a current autonomous task. The environmental information is used for describing the driving environment, and specifically may include the distribution of objects such as obstacles, motor vehicles, traffic warning signs, roadside trees, mountain bodies, pedestrians and the like existing in the driving environment, and information such as road boundaries, lanes and the like. Task types include, but are not limited to, the following: forward straight running, forward turning, backward straight running, backward turning, three-point turning, automatic parking, traffic flow gathering and the like. In the running process of the automatic driving vehicle, the running environment can be perceived in real time based on a target vehicle-mounted sensor to obtain a current perception result, wherein the target vehicle-mounted sensor refers to a sensor object with pose adjustment requirements currently, and the sensor object comprises one or more sensors deployed on the vehicle.
The sensing blind areas of the target vehicle-mounted sensor comprise physical blind areas (SENSOR PHYSICAL BLIND AREA) of the target vehicle-mounted sensor and shielding blind areas (OBSTACLE SHELTERED AREA) caused by OBSTACLEs in a driving environment, wherein the physical blind areas refer to areas which are objectively present and cannot be detected by the vehicle-mounted sensor under the condition that the type, the number and the deployment orientation of the sensors are determined. The sensing area (SENSOR DETECTABLE AREA) and the sensing blind area of the target vehicle-mounted sensor can be used for measuring the integrity of the environmental information which can be detected by the target vehicle-mounted sensor currently, and the larger the sensing area or the smaller the sensing blind area, the higher the integrity of the environmental information which can be detected by the target vehicle-mounted sensor. The identification confidence of the environment information is used for indicating the accuracy of the vehicle to the identification of the environment information, and is related to the identification algorithm adopted by the vehicle and the integrity of the environment information detected by the target vehicle-mounted sensor, and the higher the integrity of the detected environment information is, the higher the corresponding identification confidence of the environment information is. The recognition confidence of the environmental information may include a recognition confidence of at least one object in the driving environment by a recognition module on the vehicle, such as a recognition confidence of an obstacle or a recognition confidence of a road boundary, or the like.
Compared with the prior art, in the process of performing perception analysis on the environmental information, the method and the device not only output the identified environmental information, but also output the perception area and the perception blind area of the target vehicle-mounted sensor, provide a basis for adjusting the pose of the target vehicle-mounted sensor, and increase the intuitiveness, objectivity and rationality of adjusting the pose of the target vehicle-mounted sensor.
S102, if the current sensing result does not meet the driving sensing requirement, a pose adjusting instruction for indicating the target vehicle-mounted sensor to adjust the pose is sent out.
The driving perception requirement is used for defining the condition that the perception result needs to meet when the automatic driving vehicle can make a safe driving control decision based on the perception result. The recognition confidence of the sensing area, the sensing blind area and the environmental information can be selected as a triggering condition of the pose adjustment instruction of the target vehicle-mounted sensor, or can be combined as a triggering condition of the pose adjustment instruction of the target vehicle-mounted sensor, for example, the driving sensing requirement can include: the sensing area of the target vehicle-mounted sensor is larger than a first preset area, the sensing blind area is smaller than a second preset area, meanwhile, the identification confidence of the environment information is larger than or equal to a preset confidence threshold, and when the three conditions cannot be met at the same time, the automatic driving vehicle sends out a pose adjustment instruction for indicating the target vehicle-mounted sensor to adjust the pose. The first preset area, the second preset area and the confidence threshold value can be adaptively set according to requirements, and specific values are not limited in this embodiment. If the current sensing result does not meet the driving sensing requirement, namely the vehicle cannot make a safe driving control decision based on the current sensing result, the pose of the target vehicle-mounted sensor needs to be dynamically adjusted so that the sensing result of the vehicle on the driving environment meets the driving sensing requirement.
In this embodiment, after the target vehicle-mounted sensor receives the pose adjustment instruction, the position adjustment component and/or the rotation angle adjustment component of the target vehicle-mounted sensor may be controlled according to the instruction of the pose adjustment instruction, so as to perform corresponding position adjustment and/or rotation angle adjustment, thereby changing the sensing area and the sensing blind area of the target vehicle-mounted sensor on the current driving environment. The position adjusting part and the rotation angle adjusting part in the target in-vehicle sensor may be embedded parts determined during the manufacturing process of the target in-vehicle sensor, or may be mechanical auxiliary parts additionally mounted on the target in-vehicle sensor, such as a position moving bracket, an angle rotating bracket, and the like. Illustratively, after the target in-vehicle sensor receives the pose adjustment command, the adjustment parameters (2,0,0,5,0,0) included in the command are obtained through command analysis, so that the position adjustment component of the target in-vehicle sensor is controlled to move 2 cm along the x-axis on the horizontal plane, and meanwhile, the rotation angle adjustment component of the target in-vehicle sensor is controlled to rotate 5 degrees clockwise along the x-axis of the rotation shaft. The x-axis is specifically referred to as a direction related to establishment of a vehicle body coordinate system, and the present embodiment is not specifically limited, and for example, the x-axis may refer to a horizontal axis along a vehicle body length direction.
The pose adjustment command for the target in-vehicle sensor may be sent to the target in-vehicle sensor by a perception analysis module on the autonomous vehicle, or may be sent to the target in-vehicle sensor by a decision module on the autonomous vehicle, which is not specifically limited in this embodiment.
Optionally, before issuing the pose adjustment command for instructing the target vehicle-mounted sensor to perform pose adjustment, the method further includes: and adjusting the running speed of the vehicle according to a preset control relation between the sensing information quantity of the target vehicle-mounted sensor and the running speed of the vehicle. The sensing information amount may be used to define information such as an object existing in the current running environment that the target in-vehicle sensor may detect, for example, may include an obstacle existing in front of the vehicle, a motor vehicle, a traffic warning sign, roadside trees, mountains, pedestrians, and the like, and the more the object the target in-vehicle sensor may sense, the more the sensing information amount. The preset control relation can be the control speed of the vehicle in the process of adjusting the pose of the vehicle-mounted sensor through a pre-test and statistics. By adjusting the speed, the vehicle running speed is reduced, including reducing the vehicle running speed to a determined value other than 0 and reducing the vehicle running speed to 0, it is ensured that the vehicle position and the front unknown region remain within a safe running distance before the required perceived information amount is obtained, and the running safety is improved.
The target vehicle-mounted sensor can control the vehicle to reduce the running speed to 0, namely, take a parking measure, and then adjust the pose of the target vehicle-mounted sensor, wherein the adjusted target comprises reducing the current sensing blind area of the target vehicle-mounted sensor and increasing the current sensing area of the target vehicle-mounted sensor, so that the sensing information amount of the target vehicle-mounted sensor is increased, and meanwhile, the recognition confidence of the vehicle on the running environment information is increased.
Furthermore, the method is suitable for driving scenes with the time response sensitivity lower than the sensitivity threshold, wherein the lower sensitivity threshold indicates that the time response sensitivity of the vehicle is lower in the current driving scene, such as scenes of automatic parking, automatic turning around, merging into traffic flow and the like, so that the driving decision related to the current automatic driving task can be determined based on the fact that the target vehicle-mounted sensor after pose adjustment continuously senses the driving environment. The sensitivity threshold may be adaptively set.
On the basis of the above technical solution, optionally, the method further includes:
acquiring a target perception result of a running environment obtained by a target vehicle-mounted sensor based on pose adjustment;
and if the target sensing result meets the driving sensing requirement, applying the target sensing result to driving control of the vehicle, thereby ensuring driving safety.
Optionally, before obtaining the target sensing result of the driving environment obtained by the target vehicle-mounted sensor after the pose adjustment, the method further includes: and calibrating the target vehicle-mounted sensor after pose adjustment. The target vehicle-mounted sensor after pose adjustment is calibrated, so that the sensing error of the sensor is reduced, the accuracy of driving decisions made by the vehicle based on the environmental information detected by the target vehicle-mounted sensor can be further ensured, and the driving safety is further improved. The sensor calibration may be implemented by any calibration method applicable to the driving process in the prior art, and the embodiment is not specifically limited.
According to the technical scheme, the sensing area and the sensing blind area of the target vehicle-mounted sensor are analyzed in real time in the running process of the automatic driving vehicle, the sensing area and the sensing blind area are combined with the recognition confidence of the vehicle on the running environment information to serve as the sensing result of the vehicle on the running environment, if the sensing result does not meet the running sensing requirement, the pose adjusting instruction for adjusting the vehicle-mounted sensor is sent out, the pose of the target vehicle-mounted sensor is dynamically adjusted, the sensing range of the vehicle-mounted sensor is improved, the effect of acquiring more running environment information is achieved, the running environment can be accurately sensed, and the running safety is improved.
Fig. 2 is a flowchart of another pose adjustment method of an in-vehicle sensor disclosed in an embodiment of the present application, which is further optimized and expanded based on the above embodiment, and may be combined with each optional technical solution in the above embodiment. As shown in fig. 2, the method may include:
s201, determining whether an obstacle exists in the running environment according to the environment information detected by the target vehicle-mounted sensor.
According to the environment information detected by the target vehicle-mounted sensor, whether an obstacle exists in the running environment or not can be determined by utilizing any available obstacle recognition and detection method in the prior art. For example, the object vehicle-mounted sensor includes, but is not limited to, a camera, a laser radar, etc., and the detected environmental information may be specifically presented in the form of an image, a laser point cloud, etc., and by performing recognition processing on the image or the laser point cloud, it is determined whether an obstacle exists in the running environment. Obstacles include any object that has an effect on the normal travel of the vehicle, such as cones, trees, vehicles, pedestrians, mountains, etc.
S202, if an obstacle exists, determining a sensing area and/or a sensing blind area of the target vehicle-mounted sensor according to the position information of the vehicle, the attribute of the obstacle, the pose of the target vehicle-mounted sensor and the driving direction of the vehicle.
The properties of the obstacle include the position, type, shape, size, movement state of the obstacle, a planar projection area of the obstacle when the height of the obstacle is not considered, etc., which may be used to determine the shape and size of the obstacle; the pose of the target vehicle-mounted sensor comprises the deployment position and the deployment angle of the sensor on the vehicle; the driving direction of the vehicle is related to the automatic driving task currently performed by the vehicle, and may be forward or backward. After the information required by the sensing blind area and the sensing area is determined, the sensing area and the sensing blind area of the target vehicle-mounted sensor can be analyzed by utilizing the light propagation principle or the propagation principle of the sensor detection signal. The analysis of the blind sensing areas and the sensing areas determines that a mature technical scheme exists, and a specific implementation process can be reasonably estimated by a person skilled in the art according to the prior art. Fig. 3 is a schematic view showing a blind area formed by a target in-vehicle sensor due to the shielding of an obstacle based on the principle of light propagation when the vehicle is traveling forward, and the obstacle is projected to be simplified into a plane square in determining the blind area.
S203, obtaining a current perception result of the vehicle running environment, wherein the current perception result comprises at least one of a perception area of the target vehicle-mounted sensor, a perception blind area of the target vehicle-mounted sensor and an identification confidence of environment information.
The existence of the obstacle directly influences the area size of the sensing area and the sensing blind area of the target vehicle-mounted sensor, after the sensing blind area and the sensing area are determined, the environmental information which can be acquired by the vehicle can be determined, and further, the identification confidence of the environmental information can be determined based on the environmental information identification algorithm adopted by the vehicle. The recognition confidence of the environment information includes recognition confidence of the obstacle. It should be noted here that, if in operation S202, only one of the sensing area and the sensing blind area of the target vehicle-mounted sensor is determined based on the presence of the obstacle, the current sensing result of the autonomous vehicle may correspondingly include only the sensing area or the sensing blind area; if in operation S202, the sensing area and the sensing blind area of the target vehicle-mounted sensor are determined at the same time based on the presence of the obstacle, the current sensing result of the autonomous vehicle may correspondingly include both the sensing area and the sensing blind area, and further, the operation of determining the sensing blind area and/or the sensing blind area of the target vehicle-mounted sensor based on the presence of the obstacle and the operation of acquiring the sensing result of the vehicle on the driving environment for triggering the pose adjustment command may be performed by the same execution module, or may be performed by different execution modules, which is not specifically limited in this embodiment. If the current sensing result includes the recognition confidence of the environmental information, after determining the sensing blind area and/or the sensing area of the target vehicle-mounted sensor, the method of the embodiment further includes: and determining the recognition confidence of the automatic driving vehicle on the environmental information according to a recognition algorithm adopted by the automatic driving vehicle.
S204, if the current sensing result does not meet the driving sensing requirement, a pose adjusting instruction for indicating the target vehicle-mounted sensor to adjust the pose is sent out.
The following describes the present embodiment by way of example using the recognition confidence of the environment information by the autonomous vehicle as the result of sensing the driving environment by the autonomous vehicle, but should not be construed as specifically limiting the present embodiment: for example, if the current sensing result does not meet the driving sensing requirement, sending a pose adjustment instruction for instructing the target vehicle-mounted sensor to perform pose adjustment, including:
judging whether the obstacle blocks the running path of the vehicle, namely determining whether the vehicle needs to adjust the current running path due to the existence of the obstacle;
if the obstacle blocks the running path of the vehicle and the identification confidence of the environmental information in the running environment is lower than a preset threshold, a pose adjustment instruction for indicating the target vehicle-mounted sensor to adjust the pose is sent out; or alternatively
And if the obstacle does not obstruct the running path of the vehicle, the distance between the obstacle and the vehicle is smaller than a distance threshold value, and the identification confidence of the environmental information in the running environment is lower than a preset threshold value, sending a pose adjustment instruction for indicating the target vehicle-mounted sensor to carry out pose adjustment.
Specifically, whether the obstacle blocks the running path of the vehicle can be determined by determining the included angle between the position of the obstacle and the running path of the vehicle or predicting whether the movement track of the obstacle overlaps with the current running path of the vehicle. For example, the determined included angle is smaller than a preset included angle threshold, and the collision risk exists between the vehicle and the obstacle, where the included angle threshold may be adaptively set from the viewpoint of ensuring driving safety, or the movement track of the obstacle overlaps with the current driving path of the vehicle, so that the driving path of the vehicle is blocked by the obstacle.
If the obstacle blocks the running path of the vehicle and the recognition confidence of the environmental information in the running environment is lower than a preset threshold, including that the recognition confidence of the vehicle to the obstacle is lower than the preset threshold corresponding to the obstacle, it is indicated that the current environmental information still has uncertain factors for the vehicle, and the vehicle cannot make a driving decision whether to avoid the obstacle or not based on the current perception result. For example, the recognition confidence of the vehicle on the obstacle is lower than a preset threshold corresponding to the obstacle, which indicates that the vehicle cannot accurately determine the information of the obstacle, cannot determine whether to park and avoid the obstacle currently or ignore the obstacle to continue running, and the like. Therefore, the vehicle needs to send out a pose adjustment instruction about the target vehicle-mounted sensor, so that the recognition confidence of the environment information is improved based on the target vehicle-mounted sensor after pose adjustment.
If the obstacle does not obstruct the running path of the vehicle, i.e. the current running path of the vehicle does not need to be adjusted, but the position of the obstacle is close to the vehicle, the sensing area of the target vehicle-mounted sensor on the vehicle is affected, so that the recognition confidence of the vehicle on the environment information in the current running environment is low, the vehicle cannot make a driving decision of safe driving, and the pose adjustment instruction of the target vehicle-mounted sensor is required to be sent out, so that the recognition confidence of the vehicle on the environment information is improved. In addition, in the blind area generated by the shielding of the obstacle, driving accidents are easy to be induced due to the existence of uncertain environmental factors, for example, pedestrians suddenly appear in the blind area shielded by the obstacle, the distance between a vehicle and the pedestrians is relatively short, the probability of occurrence of the traffic accidents is relatively high, the perception blind area of the target vehicle-mounted sensor can be reduced through the pose adjustment of the target sensor, the perception uncertainty of environmental information in the perception blind area is reduced, and the road safety is improved.
According to the technical scheme, whether the obstacle exists in the running environment or not is determined in real time in the running process of the automatic driving vehicle, under the condition that the obstacle exists, the sensing area and/or the sensing blind area of the target vehicle-mounted sensor are determined according to the position information of the vehicle, the attribute of the obstacle, the pose of the target vehicle-mounted sensor and the running direction of the vehicle, the pose adjustment instruction of the target vehicle-mounted sensor is sent out in combination with the identification confidence of the vehicle to the environment information, the sensing range of the vehicle-mounted sensor is improved, the sensing uncertainty of the environment information in the sensing blind area is reduced, the accurate sensing of the running environment is realized, the vehicle is helped to make a safe driving decision conforming to the current running environment, the influence of the existence of the obstacle on the formulation of the safe driving decision of the vehicle is reduced, and the running safety is improved.
Fig. 4 is a flowchart of another pose adjustment method of an in-vehicle sensor according to an embodiment of the present application, which is further optimized and expanded based on the above embodiment, and may be combined with each of the optional technical solutions in the above embodiment. As shown in fig. 4, the method may include:
s301, acquiring a current perception result of a vehicle running environment, wherein the current perception result comprises at least one of a perception area of a target vehicle-mounted sensor, a perception blind area of the target vehicle-mounted sensor and an identification confidence of environment information.
S302, if the current sensing result does not meet the driving sensing requirement, determining the pose adjustment direction and the adjustment scale of the target vehicle-mounted sensor based on at least one of the sensing area and the sensing blind area of the target vehicle-mounted sensor, the driving direction of the vehicle and the pose of the target vehicle-mounted sensor.
S303, sending out a pose adjustment instruction according to the adjustment direction and the adjustment scale.
In this embodiment, the blind sensing area and the sensing area refer to an environmental area determined by the cooperation of one or more target vehicle-mounted sensors, and each area can be described by a specific boundary and angle. Taking forward straight running of a vehicle as an example, information in a sector area with a front angle range of a vehicle head being more than 120 degrees is required in the running process of the vehicle, the longitudinal distance range of the sector area is determined by a planning vehicle speed and a planning time, the planning vehicle speed refers to the running speed of the vehicle in a current running environment, the planning time is usually set as a set value, for example, 8-15 seconds can be set, and the sensing area and the sensing blind area included in the sector area can be determined through the sensing area and the sensing blind area analysis of a target vehicle-mounted sensor. The position and posture adjustment direction and adjustment scale of the target vehicle-mounted sensor can be determined through geometric relation analysis among the perception dead zone, the perception zone, the driving direction of the vehicle and the current position and posture of the target vehicle-mounted sensor, the adjustment scale is used for quantifying the change amount of the position and the rotation angle of the target vehicle-mounted sensor, and parameters corresponding to the adjustment direction and the adjustment scale are carried in a position and posture adjustment instruction and sent to the target vehicle-mounted sensor.
If the target vehicle-mounted sensors comprise a plurality of target vehicle-mounted sensors, the vehicle can determine the direction and the adjustment scale of the pose of each target vehicle-mounted sensor to be adjusted according to the contribution of each target vehicle-mounted sensor to the sensing blind area and the sensing area, and then send corresponding pose adjustment instructions to the corresponding target vehicle-mounted sensors according to the sensor identifications, namely, the corresponding target vehicle-mounted sensors can be identified, and parameter information such as the direction and the adjustment scale of the target vehicle-mounted sensors can be included in each pose adjustment instruction.
Taking fig. 3 as an example, a target vehicle-mounted sensor on the left side of a vehicle head is moved to the left side by a set distance along the running direction of the vehicle, so that a perception blind area generated by shielding of an obstacle can be reduced, the perception certainty of the vehicle to the environmental information in the shielding blind area is improved, and the perception certainty of the vehicle to information such as transverse pedestrians, other vehicles and the like which can appear behind the obstacle is improved.
Optionally, before determining the pose adjustment direction and the adjustment scale of the target vehicle-mounted sensor, the method further includes:
determining whether the running environment accords with the stability environment condition according to the environment information detected by the target vehicle-mounted sensor;
And determining the type of the pose adjustment instruction according to the determination result of the stability environmental condition, wherein the type comprises a single adjustment instruction and a plurality of iteration adjustment instructions, so that the pose adjustment instruction corresponding to the type is sent out according to the adjustment direction and the adjustment scale.
By way of example, a stable environmental condition refers to a situation in which there are few variable factors present in the current driving environment, and information of each environmental object belongs to a certain state, for example, the stable environmental condition may include: the movement speed of an object included in the driving environment is 0, the change amount of the position in the set time is smaller than a preset position threshold value, or the change amount of the shape change amount of the object in the set time is smaller than a preset deformation threshold value, and the like, wherein the set time, the preset position threshold value and the preset deformation threshold value can be flexibly set according to actual requirements. When the running environment of the vehicle meets the stability environment condition, the direction and the adjustment scale of the pose of the target vehicle-mounted sensor to be adjusted can be determined through one-time analysis and calculation, namely, the pose adjustment requirement of the target vehicle-mounted sensor can be met by sending a single adjustment instruction to the target vehicle-mounted sensor when the perception result of the vehicle on the running environment meets the running requirement. When the vehicle running environment does not meet the stability environment condition, for example, the shape, the position and other information of the obstacle in the running environment have random variability, so that the sensing blind area and the sensing area of the target vehicle-mounted sensor have certain random variability, the vehicle cannot determine the direction and the adjustment scale which enable the sensing result of the vehicle to meet the running requirement when the vehicle senses the running environment through one-time analysis and calculation, therefore, the pose of the target vehicle-mounted sensor meets the adjustment requirement by adopting a mode of repeated iterative adjustment, the pose of the target vehicle-mounted sensor is enabled to meet the adjustment requirement after being subjected to repeated pose adjustment step by step, the step length and the adjustment times of each adjustment are not limited specifically, and the method can be dynamically set according to the specific running environment. The type of the pose adjustment instruction of the target vehicle-mounted sensor is determined by judging whether the vehicle running environment meets the stability environment condition, so that the adjustment mode of the target vehicle-mounted sensor is adapted to the vehicle running environment, and the pose adjustment efficiency and flexibility of the sensor are improved.
According to the technical scheme, the sensing area and the sensing blind area of the target vehicle-mounted sensor are analyzed in real time in the running process of the automatic driving vehicle, the sensing result of the vehicle on the running environment information is combined with the recognition confidence coefficient of the vehicle, and the sensing result is taken as the sensing result of the vehicle on the running environment, if the sensing result does not meet the running sensing requirement, a pose adjusting instruction for adjusting the vehicle-mounted sensor is sent out, wherein the pose adjusting instruction comprises the adjusting direction and the adjusting scale of the target vehicle-mounted sensor, the effect of improving the sensing range of the vehicle-mounted sensor and the certainty of the safety observability area required by the vehicle to execute the driving task is achieved, the problem that the information acquisition of the sensing module on the automatic driving vehicle on the running environment is incomplete and the recognition confidence coefficient of the vehicle on the environment information is lower is solved, the running environment can be accurately sensed, and the running safety is improved.
Fig. 5 is a schematic structural diagram of a pose adjustment device of a vehicle-mounted sensor according to an embodiment of the present application, where the embodiment may be adapted to determine whether to dynamically adjust the pose of the vehicle-mounted sensor according to a sensing result of a driving environment by a vehicle during the driving of an autonomous vehicle, where the pose adjustment includes position adjustment and rotation angle adjustment. The device provided in this embodiment may be implemented in software and/or hardware, and may be integrated on a vehicle control system or a vehicle-mounted device.
As shown in fig. 5, the pose adjustment device 400 of the vehicle-mounted sensor disclosed in the present embodiment may include a current sensing result obtaining module 401 and a pose adjustment instruction issuing module 402, where:
the current sensing result obtaining module 401 is configured to obtain a current sensing result of a driving environment of the vehicle, where the current sensing result includes at least one of a sensing area of the target vehicle-mounted sensor, a sensing blind area of the target vehicle-mounted sensor, and an identification confidence of environmental information;
and the pose adjustment instruction sending module 402 is configured to send a pose adjustment instruction for instructing the target vehicle-mounted sensor to perform pose adjustment if the current sensing result does not meet the driving sensing requirement.
Optionally, the apparatus further comprises:
an obstacle determining module, configured to determine whether an obstacle exists in the driving environment according to the environmental information detected by the target vehicle-mounted sensor before the current sensing result obtaining module 401 performs an operation of obtaining the current sensing result of the driving environment of the vehicle;
and the sensing area and blind area determining module is used for determining the sensing area and/or blind area of the target vehicle-mounted sensor according to the position information of the vehicle, the attribute of the obstacle, the pose of the target vehicle-mounted sensor and the driving direction of the vehicle if the obstacle exists.
Optionally, the pose adjustment instruction issuing module 402 includes:
a travel path blocking determination unit that determines whether the obstacle blocks a travel path of the vehicle;
the first pose adjustment instruction sending unit is used for sending a pose adjustment instruction for indicating the target vehicle-mounted sensor to carry out pose adjustment if the obstacle blocks the running path of the vehicle and the identification confidence of the environmental information in the running environment is lower than a preset threshold value;
and the second pose adjustment instruction sending unit is used for sending a pose adjustment instruction for indicating the target vehicle-mounted sensor to carry out pose adjustment if the obstacle does not obstruct the running path of the vehicle, the distance between the obstacle and the vehicle is smaller than the distance threshold value, and the recognition confidence of the environmental information in the running environment is lower than the preset threshold value.
Optionally, the pose adjustment instruction issuing module 402 includes:
the pose adjustment direction and adjustment scale determining unit is used for determining the pose adjustment direction and adjustment scale of the target vehicle-mounted sensor based on at least one of a sensing area and a sensing blind area of the target vehicle-mounted sensor, the driving direction of the vehicle and the pose of the target vehicle-mounted sensor if the current sensing result does not meet the driving sensing requirement;
And the pose adjustment instruction sending unit is used for sending pose adjustment instructions according to the adjustment direction and the adjustment scale.
Optionally, the pose adjustment instruction issue module 402 further includes:
the driving environment stability determining unit is used for determining whether the driving environment accords with the stability environment condition according to the environment information detected by the target vehicle-mounted sensor before the pose adjusting direction and the adjusting scale determining unit performs the operation of determining the pose adjusting direction and the adjusting scale of the target vehicle-mounted sensor;
the pose adjustment instruction type determining unit is used for determining the type of the pose adjustment instruction according to the determination result of the stability environment condition, wherein the type comprises a single adjustment instruction and a plurality of iteration adjustment instructions, so that the pose adjustment instruction corresponding to the type is sent out according to the adjustment direction and the adjustment scale.
Optionally, the apparatus further comprises:
the driving speed adjusting module is configured to adjust the driving speed of the vehicle according to a preset control relationship between the perceived information amount of the target in-vehicle sensor and the driving speed of the vehicle before the pose adjusting command issuing module 402 performs the operation of issuing the pose adjusting command for instructing the target in-vehicle sensor to perform pose adjustment.
Optionally, the apparatus further comprises:
the target sensing result acquisition module is used for acquiring a target sensing result of the running environment obtained by the target vehicle-mounted sensor after pose adjustment;
and the target perception result application module is used for applying the target perception result to the driving control of the vehicle if the target perception result meets the driving perception requirement.
Optionally, the apparatus further comprises:
the calibration module is used for calibrating the target vehicle-mounted sensor after pose adjustment before the target sensing result acquisition module executes the operation of acquiring the target sensing result of the driving environment obtained by the target vehicle-mounted sensor after pose adjustment.
The pose adjustment device 400 of the vehicle-mounted sensor disclosed in the embodiment of the application can execute any pose adjustment method of the vehicle-mounted sensor disclosed in the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. Reference may be made to the description of any method embodiment herein for details not described in this embodiment.
According to embodiments of the present application, an electronic device and a readable storage medium are also provided.
As shown in fig. 6, fig. 6 is a block diagram of an electronic device for implementing the pose adjustment method of the in-vehicle sensor of the embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may represent any in-vehicle device, but may also represent various forms of mobile equipment, such as personal digital processing, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the embodiments of the present application described and/or claimed herein.
As shown in fig. 6, the electronic device includes: one or more processors 601, memory 602, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the electronic device, including instructions stored in or on memory to display graphical information of a graphical user interface (Graphical User Interface, GUI) on an external input/output device, such as a display device coupled to the interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations, e.g., as a server array, a set of blade servers, or a multiprocessor system. One processor 601 is illustrated in fig. 6.
Memory 602 is a non-transitory computer-readable storage medium provided by embodiments of the present application. The memory stores instructions executable by the at least one processor, so that the at least one processor executes the pose adjustment method of the vehicle-mounted sensor provided by the embodiment of the application. The non-transitory computer-readable storage medium of the embodiment of the present application stores computer instructions for causing a computer to execute the pose adjustment method of the in-vehicle sensor provided by the embodiment of the present application.
The memory 602, as a non-transitory computer readable storage medium, may be used to store a non-transitory software program, a non-transitory computer executable program, and a module, such as program instructions/modules corresponding to the pose adjustment method of the vehicle-mounted sensor in the embodiment of the application, for example, the current sensing result obtaining module 401 and the pose adjustment instruction triggering module 402 shown in fig. 5. The processor 601 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 602, that is, implements the pose adjustment method of the in-vehicle sensor in the above-described method embodiment.
The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data or the like created according to the use of the electronic device for implementing the pose adjustment method of the in-vehicle sensor in the embodiment of the present application. In addition, the memory 602 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 602 optionally includes memory remotely located relative to processor 601, which may be connected via a network to an electronic device for implementing the pose adjustment method of the in-vehicle sensor in embodiments of the present application. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device for implementing the pose adjustment method of the vehicle-mounted sensor in the embodiment of the application may further include: an input device 603 and an output device 604. The processor 601, memory 602, input device 603 and output device 604 may be connected by a bus or otherwise, for example in fig. 6.
The input device 603 may receive input numeric or character information and generate key signal inputs related to user settings and function controls of an electronic device for implementing the pose adjustment method of the in-vehicle sensor in the embodiments of the application, such as a touch screen, a keypad, a mouse, a trackpad, a touch pad, a pointer stick, one or more mouse buttons, a trackball, a joystick, etc. The output means 604 may include a display device, auxiliary lighting means, such as light emitting diodes (Light Emitting Diode, LEDs), tactile feedback means, and the like; haptic feedback devices such as vibration motors and the like. The display device may include, but is not limited to, a liquid crystal display (Liquid Crystal Display, LCD), an LED display, and a plasma display. In some implementations, the display device may be a touch screen.
Various implementations of the systems and techniques described here can be implemented in digital electronic circuitry, integrated circuitry, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
These computing programs, also referred to as programs, software applications, or code, include machine instructions for a programmable processor, and may be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device for providing machine instructions and/or data to a programmable processor, e.g., magnetic discs, optical disks, memory, programmable logic devices (Programmable Logic Device, PLD), including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device for displaying information to a user, for example, a Cathode Ray Tube (CRT) or an LCD monitor; and a keyboard and pointing device, such as a mouse or trackball, by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback; and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front-end component, e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here, or any combination of such background, middleware, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include: local area network (Local Area Network, LAN), wide area network (Wide Area Network, WAN) and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme, the sensing area and the sensing blind area of the target vehicle-mounted sensor are analyzed in real time in the running process of the automatic driving vehicle, the recognition confidence of the vehicle on the running environment information is combined to serve as the sensing result of the vehicle on the running environment, if the sensing result does not meet the running sensing requirement, the pose adjusting instruction of the adjusting vehicle-mounted sensor is triggered, the pose of the target vehicle-mounted sensor is dynamically adjusted, the perceivable range of the vehicle-mounted sensor is improved, the effect of acquiring more running environment information is achieved, the problem that the information acquisition of the sensing module on the automatic driving vehicle on the running environment is incomplete and the recognition confidence of the vehicle on the environment information is low in the existing scheme is solved, the running environment can be accurately sensed, and the running safety is improved.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions disclosed in the present application can be achieved, and are not limited herein.
The above embodiments do not limit the scope of the application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application are intended to be included within the scope of the present application.
Claims (6)
1. The pose adjusting method of the vehicle-mounted sensor is characterized by comprising the following steps of:
acquiring a current perception result of a vehicle running environment, wherein the current perception result comprises identification confidence of environment information; the identification confidence of the environment information is used for indicating the accuracy of the vehicle to the environment information identification;
if the current sensing result does not meet the driving sensing requirement, judging whether an obstacle in the driving environment blocks the driving path of the vehicle or not;
If the obstacle blocks the running path of the vehicle and the identification confidence of the environmental information in the running environment is lower than a preset threshold, a pose adjustment instruction for indicating a target vehicle-mounted sensor to adjust the pose is sent out; or alternatively
If the obstacle does not obstruct the running path of the vehicle, the distance between the obstacle and the vehicle is smaller than a distance threshold value, and the recognition confidence of the environmental information in the running environment is lower than the preset threshold value, a pose adjustment instruction for indicating the target vehicle-mounted sensor to carry out pose adjustment is sent out;
sending a pose adjustment instruction for instructing the target vehicle-mounted sensor to adjust the pose, comprising:
determining a pose adjustment direction and an adjustment scale of the target vehicle-mounted sensor based on at least one of a perception area and a perception blind area of the target vehicle-mounted sensor, a driving direction of the vehicle and a pose of the target vehicle-mounted sensor;
sending out the pose adjusting instruction according to the adjusting direction and the adjusting scale;
before determining the pose adjustment direction and the adjustment scale of the target vehicle-mounted sensor, the method further comprises:
Determining whether the running environment meets the stability environment condition according to the environment information detected by the target vehicle-mounted sensor;
determining the type of the pose adjusting instruction according to the determination result of the stability environmental condition; the pose adjustment instruction comprises a single adjustment instruction and a plurality of iteration adjustment instructions.
2. The method of claim 1, wherein prior to issuing a pose adjustment instruction for instructing the target in-vehicle sensor to pose adjustment, the method further comprises:
and adjusting the running speed of the vehicle according to a preset control relation between the sensing information quantity of the target vehicle-mounted sensor and the running speed of the vehicle.
3. The pose adjusting device of the vehicle-mounted sensor is characterized by comprising a current perception result acquisition module and a pose adjusting instruction sending module:
the current perception result acquisition module is used for acquiring a current perception result of a vehicle running environment, wherein the current perception result comprises identification confidence of environment information; the identification confidence of the environment information is used for indicating the accuracy of the vehicle to the environment information identification;
the pose adjustment instruction sending module comprises:
A travel path blocking judging unit configured to judge whether an obstacle blocks a travel path of the vehicle if the current sensing result does not meet a travel sensing requirement;
a first pose adjustment instruction sending unit, configured to send a pose adjustment instruction for instructing a target vehicle-mounted sensor to perform pose adjustment if the obstacle blocks a driving path of the vehicle and the recognition confidence of environmental information in the driving environment is lower than a preset threshold;
a second pose adjustment instruction sending unit, configured to send a pose adjustment instruction for instructing the target vehicle-mounted sensor to perform pose adjustment if the obstacle does not obstruct the driving path of the vehicle, the distance between the obstacle and the vehicle is smaller than a distance threshold, and the recognition confidence of the environmental information in the driving environment is lower than the preset threshold;
the pose adjustment instruction sending module further comprises:
a pose adjustment direction and adjustment scale determining unit, configured to determine a pose adjustment direction and adjustment scale of the target vehicle-mounted sensor based on at least one of a sensing area and a sensing blind area of the target vehicle-mounted sensor, a driving direction of the vehicle, and a pose of the target vehicle-mounted sensor;
The pose adjustment instruction sending unit is used for sending the pose adjustment instruction according to the adjustment direction and the adjustment scale;
the pose adjustment instruction sending module further comprises:
the driving environment stability determining unit is used for determining whether the driving environment accords with a stability environment condition according to the environment information detected by the target vehicle-mounted sensor before the pose adjusting direction and the adjusting scale determining unit determines the pose adjusting direction and the adjusting scale of the target vehicle-mounted sensor;
the pose adjustment instruction type determining unit is used for determining the type of the pose adjustment instruction according to the determination result of the stability environmental condition; the pose adjustment instruction comprises a single adjustment instruction and a plurality of iteration adjustment instructions.
4. A device according to claim 3, characterized in that the device further comprises:
and the running speed adjusting module is used for adjusting the running speed of the vehicle according to a preset control relation between the perceived information quantity of the target vehicle-mounted sensor and the running speed of the vehicle before the pose adjusting instruction sending module executes the pose adjusting instruction for instructing the target vehicle-mounted sensor to carry out pose adjustment.
5. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of pose adjustment of an in-vehicle sensor according to any of claims 1-2.
6. A non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the pose adjustment method of the in-vehicle sensor according to any one of claims 1-2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110836337.6A CN113370911B (en) | 2019-10-31 | 2019-10-31 | Pose adjustment method, device, equipment and medium of vehicle-mounted sensor |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911051040.8A CN110723079B (en) | 2019-10-31 | 2019-10-31 | Pose adjusting method, device, equipment and medium of vehicle-mounted sensor |
| CN202110836337.6A CN113370911B (en) | 2019-10-31 | 2019-10-31 | Pose adjustment method, device, equipment and medium of vehicle-mounted sensor |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911051040.8A Division CN110723079B (en) | 2019-10-31 | 2019-10-31 | Pose adjusting method, device, equipment and medium of vehicle-mounted sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113370911A CN113370911A (en) | 2021-09-10 |
| CN113370911B true CN113370911B (en) | 2024-03-19 |
Family
ID=69222656
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110836337.6A Active CN113370911B (en) | 2019-10-31 | 2019-10-31 | Pose adjustment method, device, equipment and medium of vehicle-mounted sensor |
| CN201911051040.8A Active CN110723079B (en) | 2019-10-31 | 2019-10-31 | Pose adjusting method, device, equipment and medium of vehicle-mounted sensor |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911051040.8A Active CN110723079B (en) | 2019-10-31 | 2019-10-31 | Pose adjusting method, device, equipment and medium of vehicle-mounted sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN113370911B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111366192B (en) * | 2020-03-16 | 2022-05-13 | 华为技术有限公司 | Information acquisition method and device |
| CN113551662A (en) * | 2020-04-24 | 2021-10-26 | 深圳裹动科技有限公司 | Sensing method and dynamic sensing device applied to automatic driving vehicle and automatic driving vehicle |
| CN111767910B (en) * | 2020-06-15 | 2023-01-06 | 重庆长安汽车股份有限公司 | Vehicle self-adaptive sensor system based on scene recognition |
| CN111912414B (en) * | 2020-07-28 | 2022-04-08 | 中国第一汽车股份有限公司 | Vehicle pose verification method, device, equipment and storage medium |
| TWI734606B (en) * | 2020-09-04 | 2021-07-21 | 鼎天國際股份有限公司 | Locomotive lamp with radar device |
| CN113312992A (en) * | 2021-05-18 | 2021-08-27 | 中山方显科技有限公司 | Dynamic object sensing and predicting method based on multi-source sensor information fusion |
| CN114655131B (en) * | 2022-03-29 | 2023-10-13 | 东风汽车集团股份有限公司 | Vehicle-mounted sensing sensor adjustment method, device, equipment and readable storage medium |
| CN114882461B (en) * | 2022-05-25 | 2023-09-29 | 阿波罗智能技术(北京)有限公司 | Equipment environment recognition method and device, electronic equipment and automatic driving vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004157764A (en) * | 2002-11-06 | 2004-06-03 | Toshiba Tec Corp | Autonomous traveling vehicle |
| CN103121423A (en) * | 2011-11-17 | 2013-05-29 | 富士重工业株式会社 | Exterior environment recognition device and exterior environment recognition method |
| CN107009968A (en) * | 2017-03-28 | 2017-08-04 | 驭势科技（北京）有限公司 | Mobile lidar control method, device and mobile unit |
| CN108237991A (en) * | 2016-12-27 | 2018-07-03 | 乐视汽车（北京）有限公司 | Position adjusting method, device, system and the unmanned vehicle of unmanned vehicle sensory perceptual system |
| CN108237986A (en) * | 2016-12-27 | 2018-07-03 | 乐视汽车（北京）有限公司 | Apparatus for adjusting position, system and the unmanned vehicle of unmanned vehicle sensory perceptual system |
| CN109634282A (en) * | 2018-12-25 | 2019-04-16 | 奇瑞汽车股份有限公司 | Automatic driving vehicle, method and apparatus |
| CN109946703A (en) * | 2019-04-10 | 2019-06-28 | 北京小马智行科技有限公司 | A kind of sensor attitude method of adjustment and device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6348254B2 (en) * | 2013-02-04 | 2018-06-27 | マクセル株式会社 | Imaging device |
| US20150329111A1 (en) * | 2014-05-18 | 2015-11-19 | Toyota Motor Engineering & Manufacturing North America, Inc. | Elevated perception system for automated vehicles |
| JP6569596B2 (en) * | 2016-05-20 | 2019-09-04 | トヨタ自動車株式会社 | vehicle |
| CN205800933U (en) * | 2016-06-22 | 2016-12-14 | 华晨汽车集团控股有限公司 | A kind of vehicle-mounted pick-up head system that can automatically adjust trajectory |
| CN108705977B (en) * | 2018-05-09 | 2020-07-31 | 四川骏硕科技有限公司 | Internet unmanned automobile |
| CN109703465B (en) * | 2018-12-28 | 2021-03-12 | 百度在线网络技术（北京）有限公司 | Control method and device for vehicle-mounted image sensor |
| CN109726692A (en) * | 2018-12-29 | 2019-05-07 | 重庆集诚汽车电子有限责任公司 | High-definition camera 3D object detection system based on deep learning |
| CN109455143A (en) * | 2019-01-11 | 2019-03-12 | 长春工业大学 | A kind of adjustable reverse image system of camera angle |
| CN110264520B (en) * | 2019-06-14 | 2021-06-08 | 北京百度网讯科技有限公司 | Vehicle-mounted sensor and vehicle pose relation calibration method, device, equipment and medium |
-
2019
- 2019-10-31 CN CN202110836337.6A patent/CN113370911B/en active Active
- 2019-10-31 CN CN201911051040.8A patent/CN110723079B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004157764A (en) * | 2002-11-06 | 2004-06-03 | Toshiba Tec Corp | Autonomous traveling vehicle |
| CN103121423A (en) * | 2011-11-17 | 2013-05-29 | 富士重工业株式会社 | Exterior environment recognition device and exterior environment recognition method |
| CN108237991A (en) * | 2016-12-27 | 2018-07-03 | 乐视汽车（北京）有限公司 | Position adjusting method, device, system and the unmanned vehicle of unmanned vehicle sensory perceptual system |
| CN108237986A (en) * | 2016-12-27 | 2018-07-03 | 乐视汽车（北京）有限公司 | Apparatus for adjusting position, system and the unmanned vehicle of unmanned vehicle sensory perceptual system |
| CN107009968A (en) * | 2017-03-28 | 2017-08-04 | 驭势科技（北京）有限公司 | Mobile lidar control method, device and mobile unit |
| CN109634282A (en) * | 2018-12-25 | 2019-04-16 | 奇瑞汽车股份有限公司 | Automatic driving vehicle, method and apparatus |
| CN109946703A (en) * | 2019-04-10 | 2019-06-28 | 北京小马智行科技有限公司 | A kind of sensor attitude method of adjustment and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110723079A (en) | 2020-01-24 |
| CN110723079B (en) | 2021-08-03 |
| CN113370911A (en) | 2021-09-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113370911B (en) | Pose adjustment method, device, equipment and medium of vehicle-mounted sensor | |
| US10926763B2 (en) | Recognition and prediction of lane constraints and construction areas in navigation | |
| CN111273268B (en) | Automatic driving obstacle type identification method and device and electronic equipment | |
| KR102032070B1 (en) | System and Method for Depth Map Sampling | |
| CN110488234B (en) | External parameter calibration method, device, equipment and medium for vehicle-mounted millimeter wave radar | |
| JP2021152906A (en) | Method, device, appliance and storage medium for predicting vehicle locus | |
| CN111324115B (en) | Obstacle position detection fusion method, obstacle position detection fusion device, electronic equipment and storage medium | |
| CN113715814B (en) | Collision detection method, device, electronic equipment, medium and automatic driving vehicle | |
| CN111311925B (en) | Parking space detection method and device, electronic equipment, vehicle and storage medium | |
| CN111611901B (en) | Vehicle reverse running detection method, device, equipment and storage medium | |
| US20210224553A1 (en) | Event detection method and apparatus for cloud control platform, device, and storage medium | |
| CN111177869B (en) | Method, device and equipment for determining sensor layout scheme | |
| CN111324945B (en) | Sensor scheme determining method, device, equipment and storage medium | |
| CN111666891B (en) | Method and device for estimating movement state of obstacle | |
| CN111368760B (en) | Obstacle detection method and device, electronic equipment and storage medium | |
| CN111310840B (en) | Data fusion processing method, device, equipment and storage medium | |
| CN111402326B (en) | Obstacle detection method, obstacle detection device, unmanned vehicle and storage medium | |
| CN112580571A (en) | Vehicle running control method and device and electronic equipment | |
| US11971536B2 (en) | Dynamic matrix filter for vehicle image sensor | |
| CN111767843A (en) | Three-dimensional position prediction method, device, equipment and storage medium | |
| EP3844670A1 (en) | Object localization using machine learning | |
| CN112528932B (en) | Method and device for optimizing position information, road side equipment and cloud control platform | |
| CN111612851B (en) | Method, apparatus, device and storage medium for calibrating camera | |
| CN110595798B (en) | Test method and device | |
| CN111231952B (en) | Vehicle control method, device and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |