CN114655131B - Vehicle-mounted sensing sensor adjustment method, device, equipment and readable storage medium - Google Patents
Vehicle-mounted sensing sensor adjustment method, device, equipment and readable storage medium Download PDFInfo
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- CN114655131B CN114655131B CN202210341768.XA CN202210341768A CN114655131B CN 114655131 B CN114655131 B CN 114655131B CN 202210341768 A CN202210341768 A CN 202210341768A CN 114655131 B CN114655131 B CN 114655131B
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- 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
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- 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
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- 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
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Abstract
The invention provides a vehicle-mounted sensing sensor adjustment method, device and equipment and a readable storage medium. The method comprises the following steps: when the existence of the unacceptable perception blind area is determined according to the perception range, iteratively adjusting the position and/or the angle of the vehicle-mounted perception sensor until the existence of the unacceptable perception blind area is determined according to the new perception range of the vehicle-mounted perception sensor; and adjusting the position and/or angle of the vehicle-mounted sensing sensor according to the total iteration adjustment quantity. According to the invention, when the unacceptable perception blind area exists according to the perception range, the position and/or angle of the vehicle-mounted perception sensor are automatically and iteratively adjusted until the unacceptable perception blind area exists according to the new perception range of the vehicle-mounted perception sensor, and the position and/or angle of the vehicle-mounted perception sensor are adjusted according to the recorded total iterative adjustment quantity, so that the perception range of the vehicle-mounted perception sensor meets the perception requirement, and the driving safety is ensured.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method, an apparatus, a device, and a readable storage medium for adjusting a vehicle-mounted sensor.
Background
When sensing devices such as cameras, radars, antennas and the like are arranged on the intelligent network-connected vehicle, the sensing ranges of the sensing devices are mutually influenced and act together, so that the requirement that dead zones are avoided as much as possible on the periphery of the vehicle is met.
However, as the sensing type sensing device needs to be coordinated with the vehicle body structure, the arrangement position of the sensing type sensing device is limited, and meanwhile, the sensing type sensing device is used for assembly and part manufacturing deviation, so that the sensing type sensing device cannot necessarily meet the sensing requirement in the sensing actual range, and thus potential driving safety hazards are brought.
Disclosure of Invention
The invention mainly aims to provide a vehicle-mounted sensing sensor adjusting method, device and equipment and a readable storage medium, and aims to solve the technical problem that the actual range which can be sensed by a sensing type sensing device in the prior art cannot meet the sensing requirement.
In a first aspect, the present invention provides a vehicle-mounted sensor adjustment method, including:
acquiring a sensing range of a vehicle-mounted sensing sensor;
when the existence of the unacceptable perception blind area is determined according to the perception range, iteratively adjusting the position and/or the angle of the vehicle-mounted perception sensor until the existence of the unacceptable perception blind area is determined according to the new perception range of the vehicle-mounted perception sensor, and recording the total iterative adjustment quantity;
and adjusting the position and/or angle of the vehicle-mounted sensing sensor according to the total iteration adjustment quantity.
Optionally, the step of obtaining the sensing range of the vehicle-mounted sensing sensor includes:
acquiring an initial position and an initial angle of a vehicle-mounted sensing sensor;
and determining the sensing range of the vehicle-mounted sensing sensor according to the initial position, the initial angle and the sensing capability of the vehicle-mounted sensing sensor.
Optionally, when it is determined that an unacceptable blind area exists according to the sensing range, iteratively adjusting the position and/or the angle of the vehicle-mounted sensing sensor until it is determined that an unacceptable blind area does not exist according to a new sensing range of the vehicle-mounted sensing sensor, where the step of determining that an unacceptable blind area does not exist includes:
when the existence of an unacceptable perception blind area is determined according to the perception range, determining a target vehicle-mounted perception sensor according to the azimuth of the unacceptable perception blind area;
and iteratively adjusting the position and/or angle of the target vehicle-mounted sensing sensor until the existence of the unacceptable sensing blind area is determined according to the new sensing range of the vehicle-mounted sensing sensor.
Optionally, the step of iteratively adjusting the position and/or the angle of the target vehicle-mounted sensing sensor until no unacceptable sensing blind area exists according to the new sensing range of the vehicle-mounted sensing sensor includes:
determining adjustment parameters according to the relative position relation between the unacceptable perception dead zone and the target vehicle-mounted perception sensor;
adjusting the position and/or angle of the target vehicle-mounted sensing sensor according to the adjustment parameters to obtain a new sensing range of the vehicle-mounted sensing sensor;
determining whether an unacceptable perception dead zone exists according to the new perception range;
and if the unacceptable perception blind area exists according to the new perception range, returning to the step of determining the adjustment parameters according to the relative position relation between the unacceptable perception blind area and the target vehicle-mounted perception sensor until the unacceptable perception blind area does not exist according to the new perception range of the vehicle-mounted perception sensor.
Optionally, after the step of determining the adjustment parameter according to the relative positional relationship between the unacceptable blind area and the target vehicle-mounted sensor, the method further includes:
detecting whether the position and/or the angle of the target vehicle-mounted sensing sensor can be adjusted according to the adjustment parameters;
if so, executing the step of adjusting the position and/or angle of the target vehicle-mounted sensing sensor according to the adjustment parameters to acquire a new sensing range of the vehicle-mounted sensing sensor;
if not, outputting a warning of failure of adjustment.
Optionally, the angle comprises a horizontal angle and/or a pitch angle.
Optionally, the position and/or angle of the vehicle-mounted sensing sensor are iteratively adjusted in a simulation environment.
In a second aspect, the present invention also provides an on-vehicle sensing sensor adjustment device, including:
the acquisition module is used for acquiring the sensing range of the vehicle-mounted sensing sensor;
the iteration module is used for carrying out iteration adjustment on the position and/or the angle of the vehicle-mounted sensing sensor when the existence of the unacceptable sensing blind area is determined according to the sensing range until the existence of the unacceptable sensing blind area is determined according to the new sensing range of the vehicle-mounted sensing sensor, and recording the total iteration adjustment quantity;
and the adjusting module is used for adjusting the position and/or the angle of the vehicle-mounted sensing sensor according to the total iteration adjusting quantity.
In a third aspect, the present invention also provides an on-vehicle sensing sensor adjustment device, the on-vehicle sensing sensor adjustment device comprising a processor, a memory, and an on-vehicle sensing sensor adjustment program stored on the memory and executable by the processor, wherein the on-vehicle sensing sensor adjustment program, when executed by the processor, implements the steps of the on-vehicle sensing sensor adjustment method as described above.
In a fourth aspect, the present invention further provides a readable storage medium, on which a vehicle-mounted sensor adjustment program is stored, where the vehicle-mounted sensor adjustment program, when executed by a processor, implements the steps of the vehicle-mounted sensor adjustment method as described above.
In the invention, the sensing range of the vehicle-mounted sensing sensor is obtained; when the existence of the unacceptable perception blind area is determined according to the perception range, iteratively adjusting the position and/or the angle of the vehicle-mounted perception sensor until the existence of the unacceptable perception blind area is determined according to the new perception range of the vehicle-mounted perception sensor, and recording the total iterative adjustment quantity; and adjusting the position and/or angle of the vehicle-mounted sensing sensor according to the total iteration adjustment quantity. According to the invention, when the unacceptable perception blind area exists according to the perception range, the position and/or angle of the vehicle-mounted perception sensor are automatically and iteratively adjusted until the unacceptable perception blind area exists according to the new perception range of the vehicle-mounted perception sensor, and the recorded total iterative adjustment quantity is used for adjusting the position and/or angle of the vehicle-mounted perception sensor, so that the perception range of the vehicle-mounted perception sensor meets the perception requirement, and the driving safety is ensured.
Drawings
Fig. 1 is a schematic hardware structure of an on-vehicle sensor adjustment device according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating an embodiment of a method for adjusting a vehicle-mounted sensor according to the present invention;
FIG. 3 is a detailed flowchart of step S202 in an embodiment of the adjustment method of the vehicle-mounted sensor according to the present invention;
fig. 4 is a schematic functional block diagram of an embodiment of the vehicle-mounted sensor adjustment device of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In a first aspect, an embodiment of the present invention provides an on-vehicle sensing sensor adjustment apparatus.
Referring to fig. 1, fig. 1 is a schematic hardware structure of an on-vehicle sensing sensor adjustment device according to an embodiment of the present invention. In an embodiment of the present invention, the on-board sensor adjustment device may include a processor 1001 (e.g., a central processing unit Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communications between these components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM) or a stable memory (non-volatile memory), such as a disk memory, and the memory 1005 may alternatively be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration shown in fig. 1 is not limiting of the invention and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
With continued reference to FIG. 1, an operating system, a network communication module, a user interface module, and an onboard sensory sensor adjustment program may be included in memory 1005, which is one type of computer storage medium in FIG. 1. The processor 1001 may call the adjustment program of the vehicle-mounted sensing sensor stored in the memory 1005, and execute the adjustment method of the vehicle-mounted sensing sensor provided by the embodiment of the invention.
In a second aspect, an embodiment of the present invention provides a method for adjusting a vehicle-mounted sensor.
In an embodiment, referring to fig. 2, fig. 2 is a flowchart illustrating an embodiment of a method for adjusting an on-vehicle sensor according to the present invention. As shown in fig. 2, the method for adjusting the vehicle-mounted sensing sensor includes:
step S10, obtaining a sensing range of a vehicle-mounted sensing sensor;
in this embodiment, the number of the vehicle-mounted sensing sensors may be one or more, and the types may be one or more, which is not limited herein. Taking the vehicle-mounted sensing sensor as an example, the vehicle-mounted sensing sensor comprises 1 camera, 1 laser radar and 1 millimeter wave radar, the sensing range of the vehicle-mounted sensing sensor can be determined by acquiring sensing data 1 of the camera, sensing data 2 of the laser radar and sensing data 3 of the millimeter wave radar, and integrating the sensing data 1, the sensing data 2 and the sensing data 3.
Further, in an embodiment, step S10 includes:
acquiring an initial position and an initial angle of a vehicle-mounted sensing sensor; and determining the sensing range of the vehicle-mounted sensing sensor according to the initial position, the initial angle and the sensing capability of the vehicle-mounted sensing sensor.
In this embodiment, the initial position and the initial angle of the vehicle-mounted sensing sensor on the vehicle body are obtained, and then the sensing range of the vehicle-mounted sensing sensor is determined according to the initial position, the initial angle and the sensing capability of the vehicle-mounted sensing sensor in a simulation scene.
Step S20, when the existence of an unacceptable perception blind area is determined according to the perception range, iteratively adjusting the position and/or the angle of the vehicle-mounted perception sensor until the existence of the unacceptable perception blind area is determined according to the new perception range of the vehicle-mounted perception sensor, and recording the total iterative adjustment quantity;
in this embodiment, the range that must be perceived needs to be determined first, and is referred to as the standard perception range. The step of determining the range that must be perceived may be performed by the vehicle engineer by means of manual calibration.
After the sensing range of the vehicle-mounted sensing sensor is obtained, comparing the sensing range of the vehicle-mounted sensing sensor with the standard sensing range, and if the standard sensing range is not completely within the sensing range of the vehicle-mounted sensing sensor, the part which is not within the sensing range of the vehicle-mounted sensing sensor is an unacceptable sensing blind area, namely an unacceptable sensing blind area exists.
At this time, the position and/or angle of the vehicle-mounted sensing sensor need to be iteratively adjusted, after each iteration adjustment, a new sensing range of the vehicle-mounted sensing sensor needs to be compared with a standard sensing range, if the standard sensing range is not completely within the new sensing range of the vehicle-mounted sensing sensor, the position and/or angle of the vehicle-mounted sensing sensor is iteratively adjusted again until the standard sensing range is completely within the new sensing range of the vehicle-mounted sensing sensor, namely, the fact that unacceptable sensing blind areas do not exist is determined according to the new sensing range of the vehicle-mounted sensing sensor.
And accumulating the adjustment amount of each iteration adjustment to obtain a total iteration adjustment amount, and recording the total iteration adjustment amount.
Further, in an embodiment, step S20 includes:
step S201, when the existence of an unacceptable perception blind area is determined according to the perception range, a target vehicle-mounted perception sensor is determined according to the direction of the unacceptable perception blind area;
in this embodiment, when it is determined that an unacceptable blind area exists according to the sensing range, the direction of the unacceptable blind area is determined, so that the vehicle-mounted sensing sensor responsible for sensing the direction is used as the target vehicle-mounted sensing sensor to be adjusted.
Step S202, iteratively adjusting the position and/or the angle of the target vehicle-mounted sensing sensor until no unacceptable sensing blind area exists according to the new sensing range of the vehicle-mounted sensing sensor.
In this embodiment, after determining the target vehicle-mounted sensing sensor to be adjusted, iterative adjustment may be performed on the position and/or angle of the target vehicle-mounted sensing sensor until it is determined that an unacceptable sensing blind area does not exist according to a new sensing range of the vehicle-mounted sensing sensor.
Further, in an embodiment, referring to fig. 3, fig. 3 is a detailed flowchart of step S202 in an embodiment of the method for adjusting a vehicle-mounted sensor according to the present invention. As shown in fig. 3, step S202 includes:
determining adjustment parameters according to the relative position relation between the unacceptable perception dead zone and the target vehicle-mounted perception sensor;
adjusting the position and/or angle of the target vehicle-mounted sensing sensor according to the adjustment parameters to obtain a new sensing range of the vehicle-mounted sensing sensor;
determining whether an unacceptable perception dead zone exists according to the new perception range;
and if the unacceptable perception blind area exists according to the new perception range, returning to the step of determining the adjustment parameters according to the relative position relation between the unacceptable perception blind area and the target vehicle-mounted perception sensor until the unacceptable perception blind area does not exist according to the new perception range of the vehicle-mounted perception sensor.
In this embodiment, the relative positional relationship between the unacceptable blind area and the target vehicle-mounted sensor is first determined, and then the adjustment parameter is determined according to the relative positional relationship. For example, if the unacceptable blind zone is below the target vehicle-mounted sensor, the adjustment parameter may be deflection to the right by X °, deflection to the downward by Y °, or translation to the right by Acm, and translation to the downward by Bcm, where X, Y, A and B are both preset values. The method is only used for schematically describing the determination of the adjustment parameters, and the adjustment parameters can be determined by combining a specific algorithm after determining the relative position relation between the unacceptable perception blind area and the target vehicle-mounted perception sensor.
After the adjustment parameters are determined, the position and/or the angle of the target vehicle-mounted sensing sensor can be adjusted according to the adjustment parameters, and a new sensing range of the adjusted vehicle-mounted sensing sensor is obtained.
The new perceived range is compared to the standard perceived range to determine whether an unacceptable perceived dead zone exists. If the unacceptable perception blind area still exists, entering the next round of iterative adjustment, namely returning to the step of determining adjustment parameters according to the relative position relation between the unacceptable perception blind area and the target vehicle-mounted perception sensor; and if the unacceptable perception dead zone does not exist, the new perception range of the current vehicle-mounted perception sensor accords with the perception requirement, and iteration can be stopped.
Further, in an embodiment, after the step of determining the adjustment parameter according to the relative positional relationship between the unacceptable blind area and the target vehicle-mounted sensor, the method further includes:
detecting whether the position and/or the angle of the target vehicle-mounted sensing sensor can be adjusted according to the adjustment parameters; if so, executing the step of adjusting the position and/or angle of the target vehicle-mounted sensing sensor according to the adjustment parameters to acquire a new sensing range of the vehicle-mounted sensing sensor; if not, outputting a warning of failure of adjustment.
In this embodiment, after the adjustment parameters are determined, it is further required to further detect whether the position and/or angle of the target vehicle-mounted sensing sensor can be adjusted according to the adjustment parameters. For example, if the adjustment parameters are deflection to the right by X ° and translation to the downward by Acm, it is necessary to detect whether the angle of deflection to the right of the target in-vehicle sensing sensor reaches the limit or the angle of the distance limit is smaller than X °, and whether the distance of translation to the downward of the target in-vehicle sensing sensor reaches the limit or the distance limit is smaller than Acm. If the angle of the rightward deflection of the target vehicle-mounted sensing sensor reaches a limit or the angle of the distance limit is smaller than X degrees and/or the distance of the downward translation of the target vehicle-mounted sensing sensor reaches a limit or the distance of the distance limit is smaller than Acm, the position and/or the angle of the target vehicle-mounted sensing sensor cannot be adjusted according to the adjustment parameters, and an adjustment failure prompt is output; and otherwise, executing the step of adjusting the position and/or angle of the target vehicle-mounted sensing sensor according to the adjustment parameters to acquire a new sensing range of the vehicle-mounted sensing sensor.
And step S30, adjusting the position and/or angle of the vehicle-mounted sensing sensor according to the total iteration adjustment quantity.
In this embodiment, the position and/or the angle of the vehicle-mounted sensing sensor is adjusted according to the total iteration adjustment amount, so that the adjusted actual sensing range of the vehicle-mounted sensing sensor includes the standard sensing range, that is, the actual sensing range of the vehicle-mounted sensing sensor meets the sensing requirement.
In this embodiment, a sensing range of a vehicle-mounted sensing sensor is obtained; when the existence of the unacceptable perception blind area is determined according to the perception range, iteratively adjusting the position and/or the angle of the vehicle-mounted perception sensor until the existence of the unacceptable perception blind area is determined according to the new perception range of the vehicle-mounted perception sensor, and recording the total iterative adjustment quantity; and adjusting the position and/or angle of the vehicle-mounted sensing sensor according to the total iteration adjustment quantity. According to the method and the device, when the unacceptable perception blind area exists according to the perception range, the position and/or the angle of the vehicle-mounted perception sensor are automatically adjusted in an iterative mode until the unacceptable perception blind area exists according to the new perception range of the vehicle-mounted perception sensor, and the recorded total iterative adjustment quantity is used for adjusting the position and/or the angle of the vehicle-mounted perception sensor, so that the perception range of the vehicle-mounted perception sensor meets the perception requirement, and driving safety is guaranteed.
Further, in an embodiment, the angle comprises a horizontal angle and/or a pitch angle.
In this embodiment, the angle of the vehicle-mounted sensing sensor may be iteratively adjusted, which may be the horizontal angle and/or the pitch angle thereof.
Further, in an embodiment, the position and/or angle of the vehicle-mounted sensing sensor are iteratively adjusted in a simulation environment.
In this embodiment, the position and/or the angle of the vehicle-mounted sensing sensor are iteratively adjusted in the simulation environment, so that the cost required for adjustment is reduced and the adjustment efficiency is improved.
In a third aspect, the embodiment of the invention further provides a device for adjusting the vehicle-mounted sensing sensor.
In an embodiment, referring to fig. 4, fig. 4 is a schematic functional block diagram of an embodiment of an on-vehicle sensor adjustment device according to the present invention. As shown in fig. 4, the in-vehicle sensing sensor adjustment device includes:
an acquisition module 10, configured to acquire a sensing range of the vehicle-mounted sensing sensor;
the iteration module 20 is configured to iteratively adjust the position and/or angle of the vehicle-mounted sensing sensor when it is determined that an unacceptable sensing blind area exists according to the sensing range, until it is determined that an unacceptable sensing blind area does not exist according to a new sensing range of the vehicle-mounted sensing sensor, and record a total iteration adjustment amount;
the adjustment module 30 is configured to adjust a position and/or an angle of the vehicle-mounted sensing sensor according to the total iteration adjustment.
Further, in an embodiment, the obtaining module 10 is configured to:
acquiring an initial position and an initial angle of a vehicle-mounted sensing sensor;
and determining the sensing range of the vehicle-mounted sensing sensor according to the initial position, the initial angle and the sensing capability of the vehicle-mounted sensing sensor.
Further, in an embodiment, the iteration module 20 is configured to:
when the existence of an unacceptable perception blind area is determined according to the perception range, determining a target vehicle-mounted perception sensor according to the azimuth of the unacceptable perception blind area;
and iteratively adjusting the position and/or angle of the target vehicle-mounted sensing sensor until the existence of the unacceptable sensing blind area is determined according to the new sensing range of the vehicle-mounted sensing sensor.
Further, in an embodiment, the iteration module 20 is configured to:
determining adjustment parameters according to the relative position relation between the unacceptable perception dead zone and the target vehicle-mounted perception sensor;
adjusting the position and/or angle of the target vehicle-mounted sensing sensor according to the adjustment parameters to obtain a new sensing range of the vehicle-mounted sensing sensor;
determining whether an unacceptable perception dead zone exists according to the new perception range;
and if the unacceptable perception blind area exists according to the new perception range, returning to the step of determining the adjustment parameters according to the relative position relation between the unacceptable perception blind area and the target vehicle-mounted perception sensor until the unacceptable perception blind area does not exist according to the new perception range of the vehicle-mounted perception sensor.
Further, in an embodiment, the on-vehicle sensing sensor adjustment device further includes a verification module, configured to:
detecting whether the position and/or the angle of the target vehicle-mounted sensing sensor can be adjusted according to the adjustment parameters;
if so, executing the step of adjusting the position and/or angle of the target vehicle-mounted sensing sensor according to the adjustment parameters to acquire a new sensing range of the vehicle-mounted sensing sensor;
if not, outputting a warning of failure of adjustment.
Further, in an embodiment, the angle comprises a horizontal angle and/or a pitch angle.
Further, in an embodiment, the position and/or angle of the vehicle-mounted sensing sensor are iteratively adjusted in a simulation environment.
The function implementation of each module in the vehicle-mounted sensing sensor adjusting device corresponds to each step in the vehicle-mounted sensing sensor adjusting method embodiment, and the function and implementation process of each module are not described in detail herein.
In a fourth aspect, embodiments of the present invention also provide a readable storage medium.
The invention stores the vehicle-mounted sensing sensor adjusting program on the readable storage medium, wherein the steps of the vehicle-mounted sensing sensor adjusting method are realized when the vehicle-mounted sensing sensor adjusting program is executed by the processor.
The method implemented when the vehicle-mounted sensing sensor adjustment program is executed may refer to various embodiments of the vehicle-mounted sensing sensor adjustment method of the present invention, which are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising several instructions for causing a terminal device to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (7)
1. The vehicle-mounted sensing sensor adjusting method is characterized by comprising the following steps of:
acquiring a sensing range of a vehicle-mounted sensing sensor;
when the existence of the unacceptable perception blind area is determined according to the perception range, iteratively adjusting the position and/or the angle of the vehicle-mounted perception sensor until the existence of the unacceptable perception blind area is determined according to the new perception range of the vehicle-mounted perception sensor, and recording the total iterative adjustment quantity;
adjusting the position and/or angle of the vehicle-mounted sensing sensor according to the total iteration adjustment quantity;
and when the unacceptable perception blind area exists according to the perception range, iteratively adjusting the position and/or the angle of the vehicle-mounted perception sensor until the unacceptable perception blind area does not exist according to the new perception range of the vehicle-mounted perception sensor, wherein the step of determining that the unacceptable perception blind area exists comprises the following steps of:
when the existence of an unacceptable perception blind area is determined according to the perception range, determining a target vehicle-mounted perception sensor according to the azimuth of the unacceptable perception blind area;
determining an adjustment parameter according to the relative position relation between the unacceptable perception dead zone and the target vehicle-mounted perception sensor, wherein the adjustment parameter comprises an adjustment direction and an adjustment value, the adjustment direction is determined based on the relative position relation, and the adjustment value is a preset distance and/or a preset angle;
adjusting the position and/or angle of the target vehicle-mounted sensing sensor according to the adjustment parameters to obtain a new sensing range of the vehicle-mounted sensing sensor;
determining whether an unacceptable perception dead zone exists according to the new perception range;
if the unacceptable perception blind area exists according to the new perception range, returning to the step of determining the adjustment parameters according to the relative position relation between the unacceptable perception blind area and the target vehicle-mounted perception sensor until the unacceptable perception blind area does not exist according to the new perception range of the vehicle-mounted perception sensor;
and iteratively adjusting the position and/or the angle of the vehicle-mounted sensing sensor in the simulation environment.
2. The method for adjusting an in-vehicle sensing sensor according to claim 1, wherein the step of acquiring the sensing range of the in-vehicle sensing sensor comprises:
acquiring an initial position and an initial angle of a vehicle-mounted sensing sensor;
and determining the sensing range of the vehicle-mounted sensing sensor according to the initial position, the initial angle and the sensing capability of the vehicle-mounted sensing sensor.
3. The method for adjusting an in-vehicle sensor as set forth in claim 1, further comprising, after the step of determining the adjustment parameter based on the relative positional relationship of the unacceptable blind area and the target in-vehicle sensor:
detecting whether the position and/or the angle of the target vehicle-mounted sensing sensor can be adjusted according to the adjustment parameters;
if so, executing the step of adjusting the position and/or angle of the target vehicle-mounted sensing sensor according to the adjustment parameters to acquire a new sensing range of the vehicle-mounted sensing sensor;
if not, outputting a warning of failure of adjustment.
4. The on-board sensory sensor adjustment method of claim 1, wherein the angle comprises a horizontal angle and/or a pitch angle.
5. An in-vehicle sensing sensor adjustment device, characterized in that the in-vehicle sensing sensor adjustment device includes:
the acquisition module is used for acquiring the sensing range of the vehicle-mounted sensing sensor;
the iteration module is used for carrying out iteration adjustment on the position and/or the angle of the vehicle-mounted sensing sensor when the existence of the unacceptable sensing blind area is determined according to the sensing range until the existence of the unacceptable sensing blind area is determined according to the new sensing range of the vehicle-mounted sensing sensor, and recording the total iteration adjustment quantity;
the adjusting module is used for adjusting the position and/or the angle of the vehicle-mounted sensing sensor according to the total iteration adjusting quantity;
the iteration module is specifically used for determining a target vehicle-mounted sensing sensor according to the azimuth of the unacceptable sensing blind area when the unacceptable sensing blind area exists according to the sensing range; determining an adjustment parameter according to the relative position relation between the unacceptable perception dead zone and the target vehicle-mounted perception sensor, wherein the adjustment parameter comprises an adjustment direction and an adjustment value, the adjustment direction is determined based on the relative position relation, and the adjustment value is a preset distance and/or a preset angle; adjusting the position and/or angle of the target vehicle-mounted sensing sensor according to the adjustment parameters to obtain a new sensing range of the vehicle-mounted sensing sensor; determining whether an unacceptable perception dead zone exists according to the new perception range; if the unacceptable perception blind area exists according to the new perception range, returning to the step of determining the adjustment parameters according to the relative position relation between the unacceptable perception blind area and the target vehicle-mounted perception sensor until the unacceptable perception blind area does not exist according to the new perception range of the vehicle-mounted perception sensor;
and iteratively adjusting the position and/or the angle of the vehicle-mounted sensing sensor in the simulation environment.
6. An in-vehicle sensing sensor adjustment device comprising a processor, a memory, and an in-vehicle sensing sensor adjustment program stored on the memory and executable by the processor, wherein the in-vehicle sensing sensor adjustment program, when executed by the processor, implements the steps of the in-vehicle sensing sensor adjustment method according to any one of claims 1 to 4.
7. A readable storage medium, wherein a vehicle-mounted sensor adjustment program is stored on the readable storage medium, wherein the vehicle-mounted sensor adjustment program, when executed by a processor, implements the steps of the vehicle-mounted sensor adjustment method according to any one of claims 1 to 4.
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