CN116601517A

CN116601517A - Control method, control device, and computer-readable storage medium

Info

Publication number: CN116601517A
Application number: CN202180083960.7A
Authority: CN
Inventors: 龙承辉
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2021-05-07
Filing date: 2021-05-07
Publication date: 2023-08-15
Also published as: WO2022233049A1

Abstract

A control method, comprising: determining the road condition information of a current running road; the attribute of the detection range of a detection device carried on the vehicle body is adjusted according to the road condition information, and the attribute of the detection range at least comprises the position of the detection range and/or the point cloud distribution in the detection range; and detecting the road by using a detection device after the attribute is adjusted. The control method can enable the detection range of the detection device to be self-adaptive to different road conditions, and improves the safety of vehicle driving.

Description

Control method, control device, and computer-readable storage medium

Technical Field

The present application relates to the field of autopilot, and in particular, to a control method, apparatus, computer readable storage medium, and a detection apparatus, control system, and mobile platform.

Background

In an autopilot application, the vehicle may perceive the current environment through an onboard detection device. When the detection device is used for sensing the current environment, the detection device can scan the scene in the detection range through the emitted light pulse sequence, so that the point cloud corresponding to the scene can be acquired. By analyzing the point cloud corresponding to the scene, the related information of the scene can be obtained, and the perception of the environment is realized.

Disclosure of Invention

In view of this, the embodiments of the present application provide a control method, a control device, a computer readable storage medium, a detection device, a control system and a movable platform, which aim to make the detection range of the detection device self-adapt to different road conditions and improve the driving safety of a vehicle.

A first aspect of an embodiment of the present application provides a control method, including:

determining the road condition information of a current running road;

the attribute of the detection range of a detection device carried on the vehicle body is adjusted according to the road condition information, and the attribute of the detection range at least comprises the position of the detection range and/or the point cloud distribution in the detection range;

and detecting the road by using a detection device after the attribute is adjusted.

A second aspect of an embodiment of the present application provides a control apparatus, including: a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

determining the road condition information of a current running road;

A third aspect of an embodiment of the present application provides a detection apparatus, including:

a light source, a first mirror, and a second mirror;

the light source is used for emitting a light pulse sequence, and a light beam emitted by the light source can reach different positions of a detection range after being reflected by the first reflecting mirror and the second reflecting mirror, wherein the first reflecting mirror can enable the light beam to scan the detection range in the vertical direction through step-by-step swing, and the second reflecting mirror can enable the light beam to scan the detection range in the horizontal direction through continuous rotation;

a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

determining the road condition information of a current running road;

the attribute of the detection range is adjusted according to the road condition information, and the attribute of the detection range at least comprises the position of the detection range and/or the point cloud distribution in the detection range;

and detecting the road by using the detection range after the attribute is adjusted.

A fourth aspect of an embodiment of the present application provides a control system, including: a detection device and a processing device;

The processing device is used for controlling the detection device by any control method provided by the embodiment of the application.

A fifth aspect of an embodiment of the present application provides a movable platform, including:

a vehicle body;

a detection device mounted on the vehicle body;

a processor and a memory storing a computer program, the processor implementing any one of the control methods provided by the embodiments of the present application when executing the computer program.

A sixth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements any one of the control methods provided by the embodiments of the present application.

The control method provided by the embodiment of the application can adjust the position of the detection range and/or the point cloud distribution in the detection range according to the road condition information of the current driving road, so that the attribute of the detection range can adapt to the current road condition, the road is detected by using the detection device after the attribute is adjusted, and the driving safety of the vehicle can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.

Fig. 1 is a flowchart of a control method provided in an embodiment of the present application.

Fig. 2A-2C are schematic diagrams illustrating position adjustment of a detection range according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a detection device according to an embodiment of the present application.

Fig. 4 is a schematic diagram illustrating the operation of the first mirror according to the embodiment of the present application.

Fig. 5 is a schematic diagram illustrating the operation of the second mirror according to the embodiment of the present application.

Fig. 6 is a schematic diagram of a point cloud frame according to an embodiment of the present application.

Fig. 7A and 7B are schematic diagrams illustrating an adjustment manner of the detection range when facing up and down slopes according to an embodiment of the present application.

Fig. 8 is a schematic diagram illustrating adjustment of the first mirror during adjustment of the position of the detection range according to an embodiment of the present application.

Fig. 9 is a view showing a scene of tilting of the front and rear directions of a vehicle according to an embodiment of the present application.

Fig. 10 is a view illustrating a scene of tilting of a vehicle in a left-right direction according to an embodiment of the present application.

Fig. 11 is a point cloud image obtained by scanning when a vehicle is tilted up according to an embodiment of the present application.

Fig. 12 is a point cloud image obtained by scanning when a vehicle is tilted left and right according to an embodiment of the present application.

Fig. 13 is a schematic diagram of a detection range of a vehicle in a high-speed motion scene according to an embodiment of the present application.

Fig. 14 is a schematic diagram of a detection range of a vehicle in a low-speed motion scene according to an embodiment of the present application.

Fig. 15 is a schematic diagram of distance change at the bottom of a cloud of different road conditions and time points according to an embodiment of the present application.

Fig. 16 is a schematic structural diagram of a control device according to an embodiment of the present application.

Fig. 17 is a schematic structural diagram of a control system according to an embodiment of the present application.

Fig. 18 is a schematic structural diagram of a movable platform according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The vehicle may encounter various road conditions during running, and different road conditions put different requirements on the perception of the vehicle. If the detection device carried by the vehicle cannot be correspondingly adjusted according to the current road condition, the perception of the vehicle cannot meet the requirement of the current road condition, and the risk of accidents is increased.

The embodiment of the application provides a control method, which can adjust the attribute of the detection range of a detection device according to the road condition information of the current running road, so that the detection range of the detection device can adapt to the current road condition, and the driving safety of a vehicle is improved.

In one implementation manner, the control method provided by the embodiment of the present application may be applied to the detection apparatus itself, for example, the detection apparatus may include a processor and a memory, and when the processor executes a computer program stored in the memory, the control method provided by the embodiment of the present application may be executed.

In one implementation manner, the control method provided by the embodiment of the present application may also be applied to a processing device, where the processing device may be other devices independent of the detection device, and may be connected to the detection device, and may control the detection device by executing the control method provided by the embodiment of the present application. In one example, the processing device may be a central control system of the vehicle body, that is, the central control system of the vehicle body may control the detection device mounted on the vehicle body by executing the control method provided by the embodiment of the present application.

Referring to fig. 1, fig. 1 is a flowchart of a control method according to an embodiment of the present application, where the control method may include the following steps:

s102, determining the road condition information of the current running road.

And S104, adjusting the attribute of the detection range of the detection device mounted on the vehicle body according to the road condition information.

S106, detecting the road by using a detection device after the attribute is adjusted.

The vehicle body may be equipped with a detection device, and a plurality of detection devices may be mounted at a plurality of different positions. The detection means may be adapted to obtain information about the scene in the detection range, which may for example comprise the position of objects in the scene, the type of objects in the scene, the reflectivity of objects in the scene, etc. In one example, the detection means may be a lidar or laser ranging device.

The detection range of the detection device may comprise a plurality of properties, wherein the adjustable properties comprise at least a position of the detection range and/or a point cloud distribution within the detection range. The position of the detection range may be the position of the detection range with respect to the detection device or the vehicle body. For ease of understanding, reference may be made to fig. 2A to 2C, in which the detection range is located immediately in front of the vehicle body in fig. 2A, the position of the detection range is shifted up in fig. 2B, and the position of the detection range is shifted down in fig. 2C. The point cloud distribution in the detection range may include the point cloud densities of different areas in the detection range, for example, the detection range may include a plurality of areas, and the point cloud densities of different areas may be the same or different in the scanned point cloud frame (i.e., one frame of point cloud). Adjusting the point cloud distribution of the detection range may include adjusting the point cloud density of different areas within the detection range.

The detection device provided by the embodiment of the application can adjust the attribute of the detection range. In one embodiment, the detection device may include a light source, a first mirror, and a second mirror. The light source can emit light pulse sequences, namely, the light source can emit light beams one by one, and the first reflecting mirror and the second reflecting mirror can be arranged on the light path, so that the light beams emitted by the light source can reach a certain position in the detection range after being reflected by the first reflecting mirror and the second reflecting mirror.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a detection device according to an embodiment of the present application.

In one embodiment, the first mirror may be a galvanometer, which may be connected to a stepper motor, and the stepper motor is driven to perform a step-wise oscillation. The step-wise oscillation is that the first mirror remains in the current attitude for a certain period of time (i.e. remains stationary) after an oscillation step, after which the next step is oscillated. Alternatively, the first mirror may be connected to a rotary electric machine, and the continuously variable rotation may be achieved by the drive of the rotary electric machine. Of course, in some examples, the first mirror may also be rotated at a constant speed by the driving of the rotating motor.

In one embodiment, the second reflecting mirror may include at least two reflecting surfaces, and the second reflecting mirror may be connected to a rotating electric machine, and may be continuously rotated by the rotating electric machine. The rotation is so-called continuous rotation, i.e. the rotation of the second mirror is continuous. The continuous rotation may be uniform rotation or variable speed rotation. When the second reflecting mirror rotates, each reflecting surface of the second reflecting mirror can rotate to the light path in turn to reflect the light beam on the light path. As shown in fig. 3, the second mirror may include three end-to-end reflective surfaces, which in turn may rotate onto the optical path as the second mirror rotates.

The first mirror can be pivoted stepwise during scanning of the detection range. Through step-by-step swing, the first reflecting mirror can change the gesture of self, and different light beams can be emergent with different vertical angles after being reflected by the first reflecting mirror under different gestures, so that the scanning of the detection range in the vertical direction can be formed. Here, the angle of the vertical direction may be an angle between the outgoing direction of the light beam and the horizontal plane. Referring to fig. 4, when the first mirror swings to different postures in fig. 4, the light beam can exit at different angles in the vertical direction after passing through the first mirror.

The second mirror can be rotated continuously while scanning the detection range. Because the second reflector continuously rotates, different light beams can enter the second reflector at different angles, and exit at different angles in the horizontal direction after being reflected by the second reflector, so that the scanning of the detection range in the horizontal direction is realized. Here, the angle of the horizontal direction may be an angle between the outgoing direction of the light beam and a vertical plane as a reference. Referring to fig. 5, different light beams in fig. 5 may exit at different angles in a horizontal direction after passing through the second reflecting mirror, so as to realize scanning of a horizontal FOV (field of view).

Through the cooperation of the first reflecting mirror and the second reflecting mirror, the light pulse sequence emitted by the light source can cover the whole detection range, so that point clouds corresponding to scenes in the detection range can be acquired.

In one embodiment, the first mirror may be positioned in the optical path before the second mirror, i.e., the light beam may first enter the first mirror, exit the first mirror, and then enter the second mirror. Such an arrangement order is advantageous in achieving miniaturization of the first mirror and thus of the detection device, especially for detection devices in which the scanning angle in the horizontal direction is larger than in the vertical direction.

In one embodiment, the first mirror may oscillate from the first position to the second position by a plurality of steps and from the second position to the first position by a step during the stepwise oscillation of the first mirror. Here, when the first mirror swings from the second posture back to the first posture, it may swing in the clockwise direction or may swing in the counterclockwise direction.

In one embodiment, the timing of the light source emitting the sequence of light pulses may be coordinated with the first mirror. For example, the light source may emit a sequence of light pulses during the swinging of the first mirror from the first pose to the second pose, and not emit a sequence of light pulses during the swinging of the first mirror from the second pose to the first pose.

As previously described, the first mirror is oscillated from the first attitude to the second attitude through a plurality of steps, and the first mirror will remain stationary for a period of time for each step oscillated. In one embodiment, the light source may emit a sequence of light pulses during a period in which the first mirror remains stationary during the oscillation of the first mirror from the first attitude to the second attitude, and may not emit a sequence of light pulses during the period in which the first mirror oscillates.

In one embodiment, the first mirror may oscillate during the blackout period. The black view period is a period in which the light beam cannot exit from the detection device when the second mirror is rotated to a specific angle section. As can be seen from the foregoing, the second reflecting mirror includes a plurality of reflecting surfaces connected end to end, and there is a boundary area between the reflecting surfaces, in one case, when the boundary area rotates onto the optical path, the light beam cannot exit normally, and a blackout period occurs. In one case, when the edge area of the reflecting surface rotates onto the optical path, the light beam is not normally emitted due to the excessive reflection angle of the edge area, and a blackout period also occurs. In one case, a blackout period also occurs when the reflecting surface closest to the optical path is substantially parallel to the optical path.

In one embodiment, the detection device may scan the detection range in a progressive scan manner, and the point cloud frame scanned during one frame period may include a plurality of point cloud rows. Referring to fig. 6, fig. 6 is a schematic diagram of a point cloud frame.

In one embodiment, when scanning the detection range in a progressive scanning manner, the first reflecting mirror can continuously swing from the first posture to the second posture through a plurality of step sizes, and then swing from the second posture to the first posture through a step size, so that the second reflecting mirror can continuously rotate. In the process that the first reflecting mirror swings from the first posture to the second posture through a plurality of step sizes, the first reflecting mirror can enter a static period after swinging for one step size, the light source can emit a light pulse sequence in the static period of the first reflecting mirror, and as the second reflecting mirror is still continuously rotated in the static period of the first reflecting mirror, different light beams can exit at different angles in the horizontal direction after being reflected by the second reflecting mirror, so that a row of point clouds can be obtained by scanning at the current height. After the rest period is finished, the first reflecting mirror can swing the next step length to change the emergent angle of the light beam in the vertical direction, so that the next row of point cloud rows can be scanned in the rest period. And repeating the process, when the first reflecting mirror swings to the second gesture and the rest period passes, finishing the last line scanning of the point cloud frame of the current scanning, and enabling the first reflecting mirror to swing back to the first gesture by one step length to start the progressive scanning of the point cloud of the next frame.

In order to adapt to different road conditions, the method provided by the embodiment of the application can adjust the attribute of the detection range of the detection device. In one embodiment, the adjustment of the property of the detection range may be achieved by adjusting at least one of the following parameters of the detection device: step size and/or swing frequency of the stepping motor; a rotational speed of the rotary electric machine; the emission frequency of the light source. It can be appreciated that different parameters of the detection device can be adjusted to realize different adjustment of the attribute of the detection range, for example, reducing the step size of the stepper motor can improve the point cloud density of the detection range in the vertical direction, and reducing the rotation speed of the rotary motor can improve the point cloud density of the detection range in the horizontal direction.

It should be noted that, in some cases, adjusting a certain parameter of the detection device may change the attribute of one or more aspects of the detection range at the same time. For example, when the step length of the stepper motor is reduced, although the interval between the point cloud rows in the point cloud frame obtained by scanning is reduced, the point cloud density of the detection range in the vertical direction is increased, if the swing frequency of the stepper motor is not increased at the same time, the cumulative swing angle of the first reflecting mirror in one frame period is also reduced, and then the scanning angle of the detection device in the vertical direction is reduced, that is, the vertical FOV (field of view) of the detection device is reduced. It can be seen that in this example, adjusting the step size of the stepper motor changes both the size of the detection range and the distribution of the point cloud within the detection range.

Various road conditions may occur on the road on which the vehicle is currently traveling. In one case, when the road surface in front is inclined, if the detection device still keeps the original detection range (i.e. the position of the detection range is kept right in front of the vehicle), the road condition on the inclined surface cannot be detected, the vehicle cannot sense the obstacle, the pedestrian or the vehicle on the inclined surface, and the accident probability is greatly improved. Therefore, in one embodiment, if the determined road condition information indicates that the road surface ahead has a slope, the position of the detection range may be adjusted in the vertical direction. Specifically, if the slope of the front road corresponds to an upward slope, the position of the detection range may be adjusted upward, and if the slope of the front road corresponds to a downward slope, the position of the detection range may be adjusted downward, as may be seen in fig. 7A and 7B.

For whether the slope belongs to an ascending slope or a descending slope, the determination may be based on the calculated slope gradient of the slope, for example, if the calculated slope gradient is positive and greater than a preset upper slope limit, the corresponding ascending slope may be determined, and if the calculated slope gradient is negative and less than a preset lower slope limit, the corresponding descending slope may be determined. The slope of the slope may be calculated in a number of ways, the specific calculation of which will be described later.

When the position of the detection range is adjusted in the vertical direction, in one embodiment, the light emitting angle of the detection device corresponding to the first posture and the light emitting angle of the detection device corresponding to the second posture can be adjusted by adjusting the posture angles of the first posture and the second posture corresponding to the first reflector. Referring to fig. 8, the attitude angle of the first mirror in the first attitude is A1, the attitude angle of the first mirror in the second attitude is B1, the light beam can exit at an angle A1 after being reflected by the first mirror when the first mirror is in the first attitude, and the light beam can exit at an angle B1 after being reflected by the first mirror when the first mirror is in the second attitude. At this time, if the road condition information indicates that the road surface ahead has an upward slope, the attitude angle corresponding to the first attitude can be adjusted to A2, the attitude angle corresponding to the second attitude can be adjusted to B2, when the first reflecting mirror is in the first attitude, the light beam can exit at an angle A2 after being reflected by the first reflecting mirror, and when the first reflecting mirror is in the second attitude, the light beam can exit at an angle B2 after being reflected by the first reflecting mirror, so that the upward adjustment of the position of the detection range is realized.

When the determined road condition information indicates that the road surface ahead has a slope, in one embodiment, the point cloud density of the region of interest in the detection range may be increased. Specifically, if the slope of the road surface in front corresponds to an upward slope, the region of interest may be located at the upper portion of the detection range, that is, the point cloud density of the upper region of the detection range may be increased. If the slope of the road surface in front corresponds to a downhill slope, the region of interest may be located at the lower part of the detection range, i.e. the point cloud density of the lower region of the detection range may be increased. By increasing the point cloud density of the region of interest, the perceived accuracy of the vehicle to the object on the ramp surface can be improved, and thus the driving safety of the vehicle when facing the ramp can be improved.

In one embodiment, if the determined road condition information indicates that the road surface ahead has a slope, the position of the detection range may be adjusted in the vertical direction and the point cloud density of the region of interest in the detection range may be increased at the same time.

In one case, the road surface on which the vehicle is currently running may jolt, at which time the vehicle body will not be kept level, tilting in the front-rear direction and/or the left-right direction will occur, and accordingly, tilting in the up-down direction and/or the left-right direction will also occur in the detection device mounted on the vehicle body, resulting in that the detection range of the detection device will not be kept right in front of the running direction, and the running safety of the vehicle will be degraded. As shown in fig. 9, the vehicle is inclined in the front-rear direction when traveling over the deceleration strip, and the detection range of the detection device is shifted vertically, so that the vehicle cannot be held directly in front of the traveling direction of the vehicle. As shown in fig. 10, the vehicle is inclined in the right-left direction when driving over the road surface pit, so that the detection range of the detection device is inclined in the right-left direction, and the scanned point cloud row cannot be kept horizontal.

In one embodiment, if the road condition information indicates that there is bump on the road surface on which the vehicle is currently running, the stability-increasing adjustment can be performed on the position of the detection range. The position of the detection range is stabilized and adjusted so that the position of the detection range is kept substantially unchanged and is maintained right in front of the traveling direction.

In one embodiment, if the currently scanned point cloud line deviates in the vertical direction, the first mirror may be controlled to swing to a specific posture so as to correct the currently scanned point cloud line to a position before the deviation. Referring to fig. 11, in the process of scanning the point cloud line, if the vehicle is tilted up due to jolt, the currently scanned point cloud line deviates from the upper direction, at this time, a specific gesture can be calculated according to the inclination angle of the vehicle, and the first mirror is controlled to swing fast to the specific gesture in one or a plurality of step sizes, so that the currently scanned point cloud line is corrected to the original height, and the stability enhancement of the position of the detection range in the vertical direction is realized.

In one embodiment, if the vehicle tilts left and right due to jolt, the currently scanned point cloud line cannot be kept horizontal and extends along a non-horizontal direction, and reference may be made to fig. 12, at this time, the first mirror may be controlled to continuously swing during the scanning process of the current point cloud line, so as to correct the scanning direction of the point cloud line to be horizontal and straight. It can be understood that when the vehicle is running on a flat road surface, the light source can emit the light pulse sequence only in the stationary period of the first reflecting mirror, the light pulse sequence can keep the emergent angle in the vertical direction, and the light pulse sequence is emergent in different angles in the horizontal direction under the continuous rotation of the second reflecting mirror, so that a row of point cloud rows is obtained by scanning in the horizontal direction, and when the vehicle is inclined left and right, the light source can be controlled to continuously swing in the original stationary period of the first reflecting mirror, so that the emergent angle of each beam of light in the vertical direction can be corrected, and the inclined point cloud rows are corrected to be flat.

In one embodiment, the attribute of the detection range may further include a range corresponding to the detection range, and after determining the road condition information of the road on which the vehicle is currently traveling, the point cloud distribution in the detection range and/or the range corresponding to the detection range may be adjusted according to the current scene indicated by the road condition information.

In one embodiment, if the road condition information indicates that the current scene is a high-speed motion scene, the point cloud density of the middle area in the detection range may be increased and/or the range corresponding to the middle area in the detection range may be increased. Here, the high-speed moving scene may be a scene in which the allowable running speed of the vehicle is higher than a preset threshold, for example, the preset threshold may be 60km/h, and the scenes in which the speed limit is higher than 60km/h may be all high-speed moving scenes, such as expressways, roads on viaducts, and the like. Because the high-speed moving scene generally has simpler road conditions, such as no pedestrians or few pedestrians, no crossroads or few crossroads and the like, the high-speed moving scene can focus on the middle area in the detection range, can increase the point cloud density of the middle area so as to improve the identification precision of objects in the middle area, can also increase the range of the middle area and improve the measurement precision of the objects in the middle area. The intermediate region may be a region located in the middle of the detection range, and in one example, the intermediate region may be a region whose center point coincides with the center point of the detection range.

Referring to fig. 13, in one embodiment, when the road condition information indicates that the scene in which the current scene is located is a high-speed motion scene, the point cloud distribution and the range of the detection range may be adjusted in the manner shown in fig. 13. Specifically, the detection range may include a middle area 1, edge areas 2 and edge areas 3 located at two sides of the middle area 1, where the middle area 1 may have the highest point cloud density and the largest range (200 m), the edge area 2 may have the second highest point cloud density and the second highest range (100 m), and the edge area 3 may have the lowest point cloud density and the smallest range (30 m).

The adjustment of the measuring range corresponding to the detection range can be implemented in various ways, in one embodiment, the adjustment of the light emitting power of the light source can be implemented, in one embodiment, the adjustment of the amplification factor of the receiving circuit of the detection device can be implemented. For example, to increase the range of the middle region in the detection range, the light emission power of the light source may be increased when the middle region is scanned in one example, and the amplification factor of the receiving circuit of the detection device may be increased when the middle region is scanned in one example.

In one embodiment, the size of the detection range may also be adjusted according to the road condition information of the road currently being traveled. In one example, when the road condition information indicates that the scene in which the vehicle is currently located is a high-speed motion scene, the detection range can be reduced, that is, the horizontal FOV and the vertical FOV of the detection device can be reduced, and the detection range can be reduced to a limited middle area right in front of the vehicle, so that the power consumption of the detection device can be reduced, and the service life of the detection device can be prolonged.

In one embodiment, if the road condition information indicates that the current scene is a low-speed motion scene, the point cloud distribution in the detection range can be adjusted to be uniformly distributed and/or the range corresponding to the detection range can be reduced. Here, the low-speed motion scene may include a scene in which a vehicle speed is lower than a preset threshold, such as an urban area, a rural area, a campus, and the like. When the vehicle runs in the low-speed motion scene, as the road conditions of the low-speed motion scene are complex, such as more pedestrians, smaller intervals among vehicles and the like, the environment needs to be sensed more comprehensively, so that the scanning angle of the detection range in the horizontal and/or vertical directions can be increased, namely the horizontal FOV and/or the vertical FOV of the detection device can be increased. Moreover, the point clouds in the detection range can be uniformly distributed so as to give enough attention to each area in the scene. In addition, considering that the object distance in the low-speed motion scene is relatively close, and the laser energy is required to be limited by safety regulations, the range corresponding to the detection range can be reduced, and the detection range can be scanned with relatively low luminous power. Referring to fig. 14, fig. 14 shows a schematic view of a detection range of the detection device in a low-speed motion scene.

In one embodiment, the road condition information may include obstacle information in the scene, and if the road condition information indicates that the obstacle exists on the road surface in front, the point cloud density of the area where the obstacle exists in the detection range may be increased.

In one embodiment, considering that the obstacle is generally located in the lower area of the detection range, when it is determined that the obstacle exists on the road surface in front, after the first reflecting mirror swings from the first posture to the second posture through a plurality of step sizes, the first reflecting mirror is controlled to swing from the second posture back to the first posture along the original road through a plurality of step sizes, so that the area where the obstacle exists can be scanned for the second time, and the point cloud density of the area where the obstacle exists is increased.

There are various embodiments for increasing the point cloud density of a specific area within the detection range. In one embodiment, the swing step length of the first reflecting mirror can be reduced when a specific area of the detection range is scanned, so that the distance between the point cloud rows can be shortened, and the point cloud density of the detection range in the vertical direction is provided. In one embodiment, the oscillation frequency of the first mirror may be increased, and then the first mirror may oscillate multiple steps from the first pose to the second pose multiple times within a fixed duration of one frame, thereby increasing the point cloud density of the detection range. In one embodiment, the rotation speed of the second reflecting mirror can be reduced when the specific area of the detection range is scanned, namely, the rotating motor for driving the second reflecting mirror is controlled to rotate at a lower speed, so that the transverse distance between points in the specific area can be shortened, and the point cloud density of the specific area in the horizontal direction can be improved. In one embodiment, when the specific area of the detection range is scanned, the light emitting frequency of the light source may be increased, so that the point cloud density of the specific area in the horizontal direction may be increased.

It is understood that the specific region may be any of the region of interest, the middle region, and the region where the obstacle is located.

In the foregoing, it has been described that the road condition information may be used to indicate whether a slope exists on the road surface ahead, or whether bumps exist on the road surface on which the vehicle is currently traveling, or may be used to indicate the scene in which the vehicle is currently located. In one embodiment, the road condition information may be obtained by analyzing a point cloud frame obtained by scanning by the detection device. Specifically, the point cloud frame obtained by scanning by the detection device can be used for fitting the road surface in front, so that whether a slope exists in front can be determined according to the road surface obtained by fitting.

In one embodiment, whether the slope exists on the road surface in front can also be determined according to the distance corresponding to the point cloud point at the bottom of the point cloud frame obtained by scanning by the detection device. Specifically, in the point cloud frame obtained by scanning when the front road surface is flat and has no slope, the distance (D in fig. 15) corresponding to the point cloud point or the point cloud row at the bottom of the detection range is relatively unchanged, and when the front road surface has a slope, the distance corresponding to the point cloud at the bottom of the detection range will change, for example, if the front road surface has an upward slope, the distance corresponding to the point cloud at the bottom of the detection range will decrease, and if the front road surface has a downward slope, the distance corresponding to the point cloud at the bottom of the detection range will increase, which may be referred to in fig. 15. Therefore, whether the front road surface has a slope can be determined according to the distance corresponding to the point cloud at the bottom of the point cloud frame obtained through scanning.

In one embodiment, whether a slope exists on the road surface in front can be determined according to the position and the posture of the detecting device after calibration and the point cloud frame obtained by scanning at least one frame of detecting device. Here, the position of the detection device may be three-dimensional coordinate information (x, y, z) of the installation position of the detection device with respect to the vehicle, and the posture of the detection device may be three-dimensional rotation information (row, pitch, yaw) of the installation posture of the detection device with respect to the vehicle. The position and the gesture of the detecting device after calibration can accurately reflect the installation position and the installation gesture of the detecting device relative to the vehicle, thereby ensuring that the point cloud information obtained by scanning is true and accurate.

In one embodiment, the point cloud frame can be scanned by a detection device to identify the scene in which the point cloud frame is currently located. Specifically, at least one point cloud frame obtained by scanning the detection device can be obtained, the point Yun Zhen is identified by an identification algorithm, and the current scene of the vehicle, such as the high-speed motion scene or the low-speed motion scene in the foregoing, can be identified. In one embodiment, the scene in which the vehicle is currently located may also be determined by querying the map according to the current location information of the vehicle.

In one embodiment, the detecting device may be equipped with an attitude sensor, so that whether there is a bump on the road surface on which the vehicle is currently running may be determined according to the change in the attitude information measured by the attitude sensor.

As previously mentioned, the detection device may be coupled to a processing device, which in one example may be a central control system of the vehicle body. In one embodiment, if the method provided by the embodiment of the present application is executed by the detecting device, the road condition information of the current driving road may be obtained by the detecting device from the central control system of the vehicle body.

Referring to fig. 16, fig. 16 is a schematic structural diagram of a control device according to an embodiment of the present application, where the control device includes: a processor 1610 and a memory 1620 storing a computer program, which processor when executing the computer program realizes the steps of:

Determining the road condition information of a current running road;

Optionally, the detecting device includes: a light source, a first mirror, and a second mirror;

the light source is used for emitting a light pulse sequence, and light beams emitted by the light source can reach different positions of the detection range after being reflected by the first reflecting mirror and the second reflecting mirror, wherein the first reflecting mirror can enable the light beams to scan the detection range in the vertical direction through step-by-step swing, and the second reflecting mirror can enable the light beams to scan the detection range in the horizontal direction through continuous rotation.

Optionally, the first reflecting mirror is driven by a stepping motor to realize stepping swing.

Optionally, the adjustment of the attribute of the detection range is achieved by adjusting at least one of the following parameters of the detection device:

The step length and/or the swing frequency of the stepping motor;

a rotation speed of a rotating electric machine that is a driving motor of the second mirror;

the emission frequency of the light source.

Optionally, the first mirror swings from a first posture to a second posture through a plurality of step sizes when swinging step by step, and then swings from the second posture to the first posture through a step size.

Optionally, the light source emits a light pulse sequence during the swinging of the first mirror from the first posture to the second posture, and does not emit a light pulse sequence during the swinging of the first mirror from the second posture to the first posture.

Optionally, the light source emits a sequence of light pulses during a period in which the first mirror is stationary during the swinging of the first mirror from the first attitude to the second attitude.

Optionally, the processor is configured to, when adjusting the attribute of the detection range of the detection device mounted on the vehicle body according to the road condition information:

and if the road condition information indicates that the slope exists on the road surface in front, adjusting the position of the detection range in the vertical direction.

Optionally, if the slope corresponds to an upward slope, the position of the detection range is adjusted upward, or if the slope corresponds to a downward slope, the position of the detection range is adjusted downward.

Optionally, the first mirror swings from the first posture to the second posture through a plurality of step sizes, and then swings from the second posture to the first posture through a step size, and when the processor adjusts the position of the detection range in the vertical direction, the processor is configured to:

and adjusting the attitude angles of the first attitude and the second attitude to adjust the light emergent angle of the detection device corresponding to the first attitude and the light emergent angle of the detection device corresponding to the second attitude.

and if the road condition information indicates that the slope exists on the road surface in front, increasing the point cloud density of the region of interest in the detection range.

Optionally, if the slope corresponds to an upward slope, the region of interest is located at an upper portion of the detection range.

Optionally, if the slope corresponds to a downhill slope, the region of interest is located at a lower portion of the detection range.

Optionally, the detection device scans the detection range in a progressive scanning manner, and the point cloud frame obtained by scanning within one frame duration includes a plurality of point cloud rows.

Optionally, in the process that the first reflecting mirror swings from the first posture to the second posture through a plurality of step sizes, after the first reflecting mirror swings one step size, the second reflecting mirror continuously rotates to enable the light beam to scan along the horizontal direction at the current height, and after the scanning of the current point cloud line is completed, the first reflecting mirror swings the next step size.

and if the road condition information indicates that the current running road surface has jolt, performing stability augmentation adjustment on the position of the detection range.

Optionally, when the processor performs stability augmentation adjustment on the position of the detection range, the processor is configured to:

and if the currently scanned point cloud line deviates in the vertical direction, controlling the first reflecting mirror to swing to a specific gesture so as to correct the currently scanned point cloud line to a position before the deviation.

And if the currently scanned point cloud line extends along the non-horizontal direction, controlling the first reflecting mirror to continuously swing in the scanning process of the currently scanned point cloud line so as to correct the currently scanned point cloud line to be flat.

Optionally, the attribute of the detection range further includes: and measuring ranges corresponding to the detection ranges.

and adjusting the point cloud distribution in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the road condition information.

Optionally, when the processor adjusts the point cloud distribution in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the road condition information, the processor is configured to:

if the road condition information indicates that the current scene is a high-speed motion scene, increasing the point cloud density of the middle area in the detection range and/or increasing the range corresponding to the middle area, wherein the high-speed motion scene comprises a scene with the vehicle speed higher than a preset threshold value.

Optionally, when the processor increases the range corresponding to the middle area, the processor is configured to:

And when the middle area is scanned, the luminous power of the light source is increased.

Optionally, the processor is further configured to:

and narrowing the detection range to the middle area.

and if the road condition information indicates that the current scene is a low-speed motion scene, adjusting the point cloud distribution in the detection range to be uniform distribution and/or reducing the range corresponding to the detection range, wherein the low-speed motion scene comprises a scene with the speed lower than a preset threshold value.

and if the road condition information indicates that the obstacle exists on the road surface in front, increasing the point cloud density of the area where the obstacle exists in the detection range.

Optionally, when scanning a specific area within the detection range, the point cloud density of the specific area is increased by at least one of the following ways:

reducing the swing step length of the first reflecting mirror;

Increasing the oscillation frequency of the first reflecting mirror;

reducing the rotational speed of the second mirror;

and increasing the light emitting frequency of the light source.

Optionally, the specific area includes the region of interest or the middle area or the area where the obstacle is located.

Optionally, the road condition information is used for indicating whether a slope exists on the road surface in front, and the processor is used for determining the road condition information of the road on which the vehicle is currently running when:

fitting the front road surface by using the point cloud frame obtained by scanning by the detection device;

and determining whether a slope exists on the road surface in front according to the fitting result.

Optionally, the road condition information is used for indicating whether a slope exists on the road surface in front, and the road condition information is determined according to the distance corresponding to the point cloud point at the bottom of the point cloud frame obtained by scanning by the detection device.

Optionally, the road condition information is used for indicating whether a slope exists on the road surface in front, and the road condition information is determined according to the calibrated position and posture of the detection device and at least one point cloud frame obtained by scanning the detection device.

Optionally, the road condition information is used for indicating a current scene, and the road condition information is determined by identifying the current scene by using a point cloud frame obtained by scanning by the detection device.

Optionally, the road condition information is used for indicating a current scene, and the road condition information is determined according to the current position information query map.

Optionally, the road condition information is used for indicating whether the road surface on which the vehicle is currently running has jolt or not, and the road condition information is determined according to the posture information measured by the posture sensor of the detection device.

Optionally, the road condition information is obtained by the detection device from a central control system of the vehicle body.

The specific implementation of the above control device may refer to the related description, and will not be described herein.

The control device provided by the embodiment of the application can adjust the position of the detection range and/or the point cloud distribution in the detection range according to the road condition information of the current driving road, so that the attribute of the detection range can adapt to the current road condition, the road is detected by using the detection device with the adjusted attribute, and the driving safety of the vehicle can be improved.

The embodiment of the application also provides a detection device, the structure of which can be referred to as fig. 3, comprising:

a light source, a first mirror, and a second mirror;

determining the road condition information of a current running road;

the step length and/or the swing frequency of the stepping motor;

the emission frequency of the light source.

Optionally, the processor is configured to, when adjusting the attribute of the detection range according to the road condition information:

Optionally, the processor is further configured to:

and narrowing the detection range to the middle area.

reducing the swing step length of the first reflecting mirror;

increasing the oscillation frequency of the first reflecting mirror;

reducing the rotational speed of the second mirror;

and increasing the light emitting frequency of the light source.

The detection device provided by the embodiment of the application can adjust the position of the detection range and/or the point cloud distribution in the detection range according to the road condition information of the current driving road, so that the attribute of the detection range can adapt to the current road condition, the road is detected by using the detection device with the adjusted attribute, and the driving safety of the vehicle can be improved.

Referring to fig. 17, fig. 17 is a schematic structural diagram of a control system according to an embodiment of the present application, where the control system includes: a detection device 1710 and a processing device 1720;

the processing device is used for:

determining the road condition information of a current running road;

the attribute of the detection range of the detection device is adjusted according to the road condition information, and the attribute of the detection range at least comprises the position of the detection range and/or the point cloud distribution in the detection range;

and detecting the road by using the detection device after the attribute is adjusted.

Optionally, the processing device comprises a central control system of the vehicle body.

The processing device may also be configured to execute any control method provided by the embodiment of the present application, and for various implementations of the control method provided by the embodiment of the present application, reference may be made to the foregoing related description for specific implementation, which is not repeated herein.

The control system provided by the embodiment of the application can adjust the position of the detection range and/or the point cloud distribution in the detection range according to the road condition information of the current driving road, so that the attribute of the detection range can adapt to the current road condition, the road is detected by using the detection device after the attribute is adjusted, and the driving safety of the vehicle can be improved.

Referring to fig. 18, fig. 18 is a schematic structural diagram of a movable platform according to an embodiment of the present application, where the movable platform includes:

body 1810;

a detection device 1820 mounted on the vehicle body;

a processor 1830 and a memory 1840 storing a computer program which, when executed, may implement any one of the control methods provided by the embodiments of the present application.

For various implementations of the control method provided by the embodiment of the present application, reference may be made to the foregoing related descriptions, and details are not repeated herein.

The movable platform provided by the embodiment of the application can adjust the position of the detection range and/or the point cloud distribution in the detection range according to the road condition information of the current driving road, so that the attribute of the detection range can adapt to the current road condition, the road is detected by using the detection device after the attribute is adjusted, and the driving safety of the vehicle can be improved.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes any control method provided by the embodiment of the application when being executed by a processor.

The above provides various embodiments for each protection subject, and on the basis of no conflict or contradiction, the person skilled in the art can freely combine various embodiments according to the actual situation, thereby constructing various different technical solutions. While the present disclosure is limited in terms of a space, it is not intended to be construed as a limitation on the scope of the disclosure of all combinations, but it is to be understood that such non-combinations are also within the scope of the disclosure of the embodiments of the present disclosure.

Embodiments of the application may take the form of a computer program product embodied on one or more storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having program code embodied therein. Computer-usable storage media include both permanent and non-permanent, removable and non-removable media, and information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to: phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, may be used to store information that may be accessed by the computing device.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. 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 apparatus that comprises the element.

The foregoing has outlined rather broadly the methods and apparatus provided in embodiments of the present application in order that the detailed description of the principles and embodiments of the present application may be implemented in any way that is used to facilitate the understanding of the method and core concepts of the present application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

A control method, characterized by comprising:

determining the road condition information of a current running road;

the attribute of the detection range of a detection device carried on the vehicle body is adjusted according to the road condition information, and the attribute of the detection range at least comprises the position of the detection range and/or the point cloud distribution in the detection range;

and detecting the road by using a detection device after the attribute is adjusted.
The method of claim 1, wherein the detection device comprises: a light source, a first mirror, and a second mirror;

the light source is used for emitting a light pulse sequence, and light beams emitted by the light source can reach different positions of the detection range after being reflected by the first reflecting mirror and the second reflecting mirror, wherein the first reflecting mirror can enable the light beams to scan the detection range in the vertical direction through step-by-step swing, and the second reflecting mirror can enable the light beams to scan the detection range in the horizontal direction through continuous rotation.
The method of claim 2, wherein the first mirror is driven by a stepper motor to oscillate stepwise.
A method according to claim 3, characterized in that the adjustment of the property of the detection range is achieved by adjusting at least one of the following parameters of the detection device:

the step length and/or the swing frequency of the stepping motor;

a rotation speed of a rotating electric machine that is a driving motor of the second mirror;

the emission frequency of the light source.
The method of claim 2, wherein the first mirror swings from a first pose to a second pose in a plurality of steps while swinging stepwise, and then swings from the second pose to the first pose in a single step.
The method of claim 5, wherein the light source emits a sequence of light pulses during the swinging of the first mirror from the first pose to the second pose and does not emit a sequence of light pulses during the swinging of the first mirror from the second pose to the first pose.
The method of claim 6, wherein the light source emits a sequence of light pulses during a period in which the first mirror is stationary during the swinging of the first mirror from the first pose to the second pose.
The method according to any one of claims 1 to 7, wherein adjusting the attribute of the detection range of the detection device mounted on the vehicle body according to the road condition information includes:

and if the road condition information indicates that the slope exists on the road surface in front, adjusting the position of the detection range in the vertical direction.
The method of claim 8, wherein the position of the detection range is adjusted upward if the slope corresponds to an upward slope or downward if the slope corresponds to a downward slope.
The method of claim 8, wherein the first mirror swings from the first attitude to the second attitude by a plurality of steps, and then swings from the second attitude to the first attitude by one step, and the adjusting the position of the detection range in the vertical direction includes:

and adjusting the attitude angles of the first attitude and the second attitude to adjust the light emergent angle of the detection device corresponding to the first attitude and the light emergent angle of the detection device corresponding to the second attitude.
The method according to any one of claims 1 to 10, wherein adjusting the attribute of the detection range of the detection device mounted on the vehicle body according to the road condition information includes:

And if the road condition information indicates that the slope exists on the road surface in front, increasing the point cloud density of the region of interest in the detection range.
The method of claim 11, wherein the region of interest is located at an upper portion of the detection range if the slope corresponds to an upward slope.
The method of claim 11, wherein the region of interest is located in a lower portion of the detection range if the slope corresponds to a downhill slope.
The method according to any one of claims 1-13, wherein the detection device scans the detection range in a progressive scanning manner, and the point cloud frame scanned within a frame duration includes a plurality of point cloud rows.
The method of claim 14, wherein during the swinging of the first mirror from the first position to the second position through a plurality of steps, the first mirror swings one step, the second mirror scans the light beam in the horizontal direction at the current height through continuous rotation, and after the scanning of the current point cloud is completed, the first mirror swings the next step.
The method according to any one of claims 1 to 15, wherein adjusting the attribute of the detection range of the detection device mounted on the vehicle body according to the road condition information includes:

And if the road condition information indicates that the current running road surface has jolt, performing stability augmentation adjustment on the position of the detection range.
The method of claim 16, wherein the stability augmentation adjustment of the position of the detection range comprises:

and if the currently scanned point cloud line deviates in the vertical direction, controlling the first reflecting mirror to swing to a specific gesture so as to correct the currently scanned point cloud line to a position before the deviation.
The method of claim 16, wherein the stability augmentation adjustment of the position of the detection range comprises:

and if the currently scanned point cloud line extends along the non-horizontal direction, controlling the first reflecting mirror to continuously swing in the scanning process of the currently scanned point cloud line so as to correct the currently scanned point cloud line to be flat.
The method according to any one of claims 1-18, wherein the attribute of the detection range further comprises: and measuring ranges corresponding to the detection ranges.
The method according to claim 19, wherein adjusting the attribute of the detection range of the detection device mounted on the vehicle body according to the road condition information includes:

and adjusting the point cloud distribution in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the road condition information.
The method of claim 20, wherein the adjusting the point cloud distribution in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the road condition information comprises:

if the road condition information indicates that the current scene is a high-speed motion scene, increasing the point cloud density of the middle area in the detection range and/or increasing the range corresponding to the middle area, wherein the high-speed motion scene comprises a scene with the vehicle speed higher than a preset threshold value.
The method of claim 21, wherein said increasing the corresponding span of the intermediate region comprises:

and when the middle area is scanned, the luminous power of the light source is increased.
The method of claim 22, wherein the method further comprises:

and narrowing the detection range to the middle area.
The method of claim 20, wherein the adjusting the point cloud distribution in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the road condition information comprises:

and if the road condition information indicates that the current scene is a low-speed motion scene, adjusting the point cloud distribution in the detection range to be uniform distribution and/or reducing the range corresponding to the detection range, wherein the low-speed motion scene comprises a scene with the speed lower than a preset threshold value.
The method according to any one of claims 1 to 24, wherein adjusting the attribute of the detection range of the detection device mounted on the vehicle body according to the road condition information includes:

and if the road condition information indicates that the obstacle exists on the road surface in front, increasing the point cloud density of the area where the obstacle exists in the detection range.
The method of any one of claims 1-25, wherein upon scanning a particular region within the detection range, the point cloud density of the particular region is increased by at least one of:

reducing the swing step length of the first reflecting mirror;

increasing the oscillation frequency of the first reflecting mirror;

reducing the rotational speed of the second mirror;

and increasing the light emitting frequency of the light source.
The method of claim 26, wherein the specific region comprises the region of interest or the intermediate region or the region in which the obstacle is located.
The method according to any one of claims 1 to 27, wherein the traffic information is used to indicate whether a slope exists on a road ahead, and the determining the traffic information of the road currently being driven comprises:

Fitting the front road surface by using the point cloud frame obtained by scanning by the detection device;

and determining whether a slope exists on the road surface in front according to the fitting result.
The method according to any one of claims 1 to 27, wherein the road condition information is used for indicating whether a slope exists on a road surface ahead, and the road condition information is determined according to a distance corresponding to a point cloud point at the bottom of the point cloud frame obtained by scanning by the detection device.
The method according to any one of claims 1 to 27, wherein the road condition information is used to indicate whether a slope exists on the road surface ahead, and the road condition information is determined according to the calibrated position and posture of the detecting device and at least one point cloud frame scanned by the detecting device.
The method according to any one of claims 1 to 27, wherein the road condition information is used for indicating a current scene, and the road condition information is determined by identifying the current scene by using a point cloud frame obtained by scanning by the detecting device.
The method according to any one of claims 1-27, wherein the traffic information is used to indicate a current scene, and the traffic information is determined by querying a map based on current location information.
The method according to any one of claims 1 to 27, wherein the road condition information is used to indicate whether there is a bump on the road surface on which the vehicle is currently running, and the road condition information is determined based on posture information measured by a posture sensor of the detecting device.
The method of any one of claims 1-33, wherein the traffic information is obtained by the detection device from a central control system of the vehicle body.
A control apparatus, characterized by comprising: a processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

determining the road condition information of a current running road;

the attribute of the detection range of a detection device carried on the vehicle body is adjusted according to the road condition information, and the attribute of the detection range at least comprises the position of the detection range and/or the point cloud distribution in the detection range;

and detecting the road by using a detection device after the attribute is adjusted.
The apparatus of claim 35, wherein the detection means comprises: a light source, a first mirror, and a second mirror;

the light source is used for emitting a light pulse sequence, and light beams emitted by the light source can reach different positions of the detection range after being reflected by the first reflecting mirror and the second reflecting mirror, wherein the first reflecting mirror can enable the light beams to scan the detection range in the vertical direction through step-by-step swing, and the second reflecting mirror can enable the light beams to scan the detection range in the horizontal direction through continuous rotation.
The apparatus of claim 36, wherein the first mirror is driven by a stepper motor to oscillate stepwise.
The apparatus of claim 37, wherein the adjustment of the property of the detection range is achieved by adjusting at least one of the following parameters of the detection apparatus:

the step length and/or the swing frequency of the stepping motor;

a rotation speed of a rotating electric machine that is a driving motor of the second mirror;

the emission frequency of the light source.
The apparatus of claim 36, wherein the first mirror swings from a first position to a second position in a plurality of steps and then from the second position to the first position in a single step when swinging in steps.
The apparatus of claim 39, wherein the light source emits a sequence of light pulses during the swinging of the first mirror from the first pose to the second pose and does not emit a sequence of light pulses during the swinging of the first mirror from the second pose to the first pose.
The apparatus of claim 40, wherein the light source emits a sequence of light pulses during a period in which the first mirror is stationary during the swinging of the first mirror from the first pose to the second pose.
The apparatus according to any one of claims 1 to 41, wherein the processor is configured to, when adjusting an attribute of a detection range of a detection apparatus mounted on a vehicle body according to the road condition information:

and if the road condition information indicates that the slope exists on the road surface in front, adjusting the position of the detection range in the vertical direction.
The apparatus of claim 42, wherein the position of the detection range is adjusted upward if the slope corresponds to an upward slope or downward if the slope corresponds to a downward slope.
An apparatus according to claim 42 wherein the first mirror swings from the first attitude to the second attitude by a plurality of steps and then swings from the second attitude to the first attitude by a step, the processor is configured to, when adjusting the position of the detection range in the vertical direction:

and adjusting the attitude angles of the first attitude and the second attitude to adjust the light emergent angle of the detection device corresponding to the first attitude and the light emergent angle of the detection device corresponding to the second attitude.
The apparatus according to any one of claims 1 to 44, wherein the processor is configured to, when adjusting the attribute of the detection range of the detection apparatus mounted on the vehicle body according to the road condition information:

and if the road condition information indicates that the slope exists on the road surface in front, increasing the point cloud density of the region of interest in the detection range.
The apparatus of claim 45, wherein the region of interest is located at an upper portion of the detection range if the ramp corresponds to an upward slope.
The apparatus of claim 45, wherein the region of interest is located in a lower portion of the detection range if the slope corresponds to a downhill slope.
The apparatus of any one of claims 1-47, wherein the detection device scans the detection range in a progressive scan manner, and wherein the scanned point cloud frame comprises a plurality of point cloud rows for a duration of one frame.
An apparatus according to claim 48 wherein during the swinging of the first mirror from the first position to the second position through a plurality of steps, the first mirror is rotated continuously to scan the beam in the horizontal direction at the current elevation after one step, and the first mirror is rotated again the next step after the scanning of the current point cloud is completed.
The apparatus according to any one of claims 1 to 49, wherein the processor is configured to, when adjusting the attribute of the detection range of the detection apparatus mounted on the vehicle body according to the road condition information:

and if the road condition information indicates that the current running road surface has jolt, performing stability augmentation adjustment on the position of the detection range.
The apparatus of claim 50, wherein the processor is configured to, when performing the stability augmentation adjustment of the position of the detection range:

and if the currently scanned point cloud line deviates in the vertical direction, controlling the first reflecting mirror to swing to a specific gesture so as to correct the currently scanned point cloud line to a position before the deviation.
The apparatus of claim 50, wherein the processor is configured to, when performing the stability augmentation adjustment of the position of the detection range:

and if the currently scanned point cloud line extends along the non-horizontal direction, controlling the first reflecting mirror to continuously swing in the scanning process of the currently scanned point cloud line so as to correct the currently scanned point cloud line to be flat.
The apparatus of any one of claims 1-52, wherein the attribute of the detection range further comprises: and measuring ranges corresponding to the detection ranges.
The apparatus according to claim 53, wherein the processor is configured to, when adjusting the attribute of the detection range of the detection device mounted on the vehicle body according to the road condition information:

and adjusting the point cloud distribution in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the road condition information.
The apparatus of claim 54, wherein the processor is configured to, when adjusting the point cloud distribution in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the traffic information:

if the road condition information indicates that the current scene is a high-speed motion scene, increasing the point cloud density of the middle area in the detection range and/or increasing the range corresponding to the middle area, wherein the high-speed motion scene comprises a scene with the vehicle speed higher than a preset threshold value.
The apparatus of claim 55, wherein the processor, when increasing the corresponding range of the intermediate region, is configured to:

and when the middle area is scanned, the luminous power of the light source is increased.
The apparatus of claim 56, wherein said processor is further configured to:

And narrowing the detection range to the middle area.
The apparatus of claim 54, wherein the processor is configured to, when adjusting the point cloud distribution in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the traffic information:

and if the road condition information indicates that the current scene is a low-speed motion scene, adjusting the point cloud distribution in the detection range to be uniform distribution and/or reducing the range corresponding to the detection range, wherein the low-speed motion scene comprises a scene with the speed lower than a preset threshold value.
The apparatus according to any one of claims 1 to 58, wherein the processor is configured to, when adjusting an attribute of a detection range of a detection apparatus mounted on a vehicle body according to the road condition information:

and if the road condition information indicates that the obstacle exists on the road surface in front, increasing the point cloud density of the area where the obstacle exists in the detection range.
The apparatus of any one of claims 1-59, wherein upon scanning a particular region within the detection range, a point cloud density of the particular region is increased by at least one of:

Reducing the swing step length of the first reflecting mirror;

increasing the oscillation frequency of the first reflecting mirror;

reducing the rotational speed of the second mirror;

and increasing the light emitting frequency of the light source.
The apparatus of claim 60, wherein the particular region comprises the region of interest or the intermediate region or the region in which the obstacle is located.
The apparatus according to any one of claims 1-61, wherein the traffic information is used to indicate whether a slope exists on a road ahead, and the processor is configured to, when determining the traffic information of the road currently being driven:

fitting the front road surface by using the point cloud frame obtained by scanning by the detection device;

and determining whether a slope exists on the road surface in front according to the fitting result.
The apparatus according to any one of claims 1 to 61, wherein the traffic information is used to indicate whether a slope exists on a road surface ahead, and the traffic information is determined according to a distance corresponding to a point cloud point at a bottom of a point cloud frame scanned by the detecting device.
The apparatus according to any one of claims 1 to 61, wherein the traffic information is used to indicate whether a slope exists on a road surface ahead, and the traffic information is determined according to the calibrated position and posture of the detecting device and at least one point cloud frame scanned by the detecting device.
The apparatus according to any one of claims 1 to 61, wherein the traffic information is used to indicate a current scene, and the traffic information is determined by identifying the current scene using a point cloud frame scanned by the detecting device.
The apparatus according to any one of claims 1-61, wherein the traffic information is used to indicate a current scene, and the traffic information is determined by querying a map based on current location information.
The apparatus according to any one of claims 1 to 61, wherein the road condition information is used to indicate whether there is a bump in the road surface on which the vehicle is currently running, and the road condition information is determined based on posture information measured by a posture sensor of the detecting apparatus.
The apparatus according to any one of claims 1-67, wherein said traffic information is obtained by said detecting means from a central control system of said vehicle body.
A detection device, comprising:

a light source, a first mirror, and a second mirror;

the light source is used for emitting a light pulse sequence, and a light beam emitted by the light source can reach different positions of a detection range after being reflected by the first reflecting mirror and the second reflecting mirror, wherein the first reflecting mirror can enable the light beam to scan the detection range in the vertical direction through step-by-step swing, and the second reflecting mirror can enable the light beam to scan the detection range in the horizontal direction through continuous rotation;

A processor and a memory storing a computer program, the processor implementing the following steps when executing the computer program:

determining the road condition information of a current running road;

the attribute of the detection range is adjusted according to the road condition information, and the attribute of the detection range at least comprises the position of the detection range and/or the point cloud distribution in the detection range;

and detecting the road by using the detection range after the attribute is adjusted.
The apparatus of claim 69, wherein the first mirror is driven by a stepper motor to oscillate stepwise.
The apparatus of claim 70, wherein the adjustment of the property of the detection range is achieved by adjusting at least one of the following parameters of the detection apparatus:

the step length and/or the swing frequency of the stepping motor;

a rotation speed of a rotating electric machine that is a driving motor of the second mirror;

the emission frequency of the light source.
The apparatus of claim 69 wherein the first mirror swings from a first position to a second position in a plurality of steps and then from the second position to the first position in a single step during the step swing.
The device of claim 72 wherein the light source emits a sequence of light pulses during the swinging of the first mirror from the first pose to the second pose and does not emit a sequence of light pulses during the swinging of the first mirror from the second pose to the first pose.
The device of claim 73 wherein the light source emits a sequence of light pulses during a period in which the first mirror is stationary during the swinging of the first mirror from the first pose to the second pose.
The apparatus according to any one of claims 1-74, wherein the processor is configured to, when adjusting the attribute of the detection range according to the road condition information:

and if the road condition information indicates that the slope exists on the road surface in front, adjusting the position of the detection range in the vertical direction.
The apparatus of claim 75, wherein the position of the detection range is adjusted upward if the slope corresponds to an upward slope or downward if the slope corresponds to a downward slope.
The apparatus of claim 75 wherein the first mirror swings from the first position to the second position in a plurality of steps and then swings from the second position to the first position in a step, the processor being configured to:

And adjusting the attitude angles of the first attitude and the second attitude to adjust the light emergent angle of the detection device corresponding to the first attitude and the light emergent angle of the detection device corresponding to the second attitude.
The apparatus according to any one of claims 1-77, wherein the processor is configured to, when adjusting the attribute of the detection range according to the road condition information:

and if the road condition information indicates that the slope exists on the road surface in front, increasing the point cloud density of the region of interest in the detection range.
The apparatus of claim 78, wherein the region of interest is located at an upper portion of the detection range if the slope corresponds to an upward slope.
The apparatus of claim 78, wherein the region of interest is located in a lower portion of the detection range if the slope corresponds to a downhill slope.
The apparatus according to any one of claims 1-80, wherein the detection device scans the detection range in a progressive scan manner, and the point cloud frame scanned during a frame period comprises a plurality of point cloud rows.
The apparatus of claim 81 wherein during the swinging of the first mirror from the first position to the second position through a plurality of steps, the first mirror swings one step, the second mirror scans the beam in the horizontal direction at the current elevation by continuously rotating, and the first mirror swings the next step after the scanning of the current point cloud is completed.
The apparatus according to any one of claims 1-82, wherein the processor is configured to, when adjusting the attribute of the detection range according to the road condition information:

and if the road condition information indicates that the current running road surface has jolt, performing stability augmentation adjustment on the position of the detection range.
The apparatus of claim 83, wherein the processor, when performing the stability augmentation adjustment on the position of the detection range, is configured to:

and if the currently scanned point cloud line deviates in the vertical direction, controlling the first reflecting mirror to swing to a specific gesture so as to correct the currently scanned point cloud line to a position before the deviation.
The apparatus of claim 83, wherein the processor, when performing the stability augmentation adjustment on the position of the detection range, is configured to:

and if the currently scanned point cloud line extends along the non-horizontal direction, controlling the first reflecting mirror to continuously swing in the scanning process of the currently scanned point cloud line so as to correct the currently scanned point cloud line to be flat.
The apparatus of any one of claims 1-85, wherein the property of the detection range further comprises: and measuring ranges corresponding to the detection ranges.
The apparatus of claim 86, wherein the processor is configured to, when adjusting the attribute of the detection range based on the traffic information:

and adjusting the point cloud distribution in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the road condition information.
The apparatus of claim 87, wherein the processor is configured to, when adjusting the distribution of the point clouds in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the traffic information:

if the road condition information indicates that the current scene is a high-speed motion scene, increasing the point cloud density of the middle area in the detection range and/or increasing the range corresponding to the middle area, wherein the high-speed motion scene comprises a scene with the vehicle speed higher than a preset threshold value.
The apparatus of claim 88, wherein the processor, when increasing the corresponding range of the intermediate region, is configured to:

and when the middle area is scanned, the luminous power of the light source is increased.
The apparatus of claim 89, wherein the processor is further configured to:

And narrowing the detection range to the middle area.
The apparatus of claim 87, wherein the processor is configured to, when adjusting the distribution of the point clouds in the detection range and/or the range corresponding to the detection range according to the current scene indicated by the traffic information:

and if the road condition information indicates that the current scene is a low-speed motion scene, adjusting the point cloud distribution in the detection range to be uniform distribution and/or reducing the range corresponding to the detection range, wherein the low-speed motion scene comprises a scene with the speed lower than a preset threshold value.
The apparatus according to any one of claims 1 to 91, wherein the processor is configured to, when adjusting the attribute of the detection range of the detection apparatus mounted on the vehicle body according to the road condition information:

and if the road condition information indicates that the obstacle exists on the road surface in front, increasing the point cloud density of the area where the obstacle exists in the detection range.
The apparatus of any one of claims 1-92, wherein upon scanning a particular region within the detection range, a point cloud density of the particular region is increased by at least one of:

Reducing the swing step length of the first reflecting mirror;

increasing the oscillation frequency of the first reflecting mirror;

reducing the rotational speed of the second mirror;

and increasing the light emitting frequency of the light source.
The apparatus of claim 93, wherein the particular region comprises the region of interest or the intermediate region or the region in which the obstacle is located.
The apparatus according to any one of claims 1-94, wherein the traffic information is used to indicate whether a slope exists on a road ahead, and the processor is configured to, when determining the traffic information of the road currently being driven:

fitting the front road surface by using the point cloud frame obtained by scanning by the detection device;

and determining whether a slope exists on the road surface in front according to the fitting result.
The apparatus according to any one of claims 1-94, wherein the traffic information is used to indicate whether a slope exists on the road surface ahead, and the traffic information is determined according to a distance corresponding to a point cloud point at the bottom of the point cloud frame obtained by scanning by the detecting device.
The device according to any one of claims 1-94, wherein the traffic information is used to indicate whether a slope exists on the road surface ahead, and the traffic information is determined according to the calibrated position and posture of the detecting device and at least one point cloud frame scanned by the detecting device.
The apparatus according to any one of claims 1 to 94, wherein the traffic information is used to indicate a current scene, and the traffic information is determined by identifying the current scene using a point cloud frame scanned by the detecting device.
The apparatus according to any one of claims 1-94, wherein the traffic information is used to indicate a current scene, and the traffic information is determined by querying a map based on current location information.
The apparatus according to any one of claims 1-94, wherein the road condition information is used to indicate whether there is a bump in the road surface on which the vehicle is currently running, and the road condition information is determined based on posture information measured by a posture sensor of the detecting device.
The apparatus according to any one of claims 1-100, wherein the road condition information is obtained by the detecting means from a central control system of the vehicle body.
A control system, comprising: a detection device and a processing device;

the processing device is configured to control the detection device by a control method according to any one of claims 1 to 34.
The system of claim 102, wherein the processing device comprises a central control system of a vehicle body.
A movable platform, comprising:

a vehicle body;

a detection device mounted on the vehicle body;

a processor and a memory storing a computer program, which processor, when executing the computer program, implements the control method according to any one of claims 1-34.
A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the control method according to any one of claims 1-34.