CN117008152A - Laser radar control method and device, vehicle-mounted terminal and medium - Google Patents

Abstract

The embodiment of the application is suitable for the technical field of vehicles, and provides a control method and device of a laser radar, a vehicle-mounted terminal and a medium, wherein the method comprises the following steps: acquiring the speed and gear of a vehicle; determining the transmitting power of a transmitter of a laser radar of the vehicle according to the vehicle speed and the gear; and controlling the transmitter to perform laser emission according to the emission power. By the method, the damage of the laser beam emitted by the laser radar to human eyes can be reduced.

Description

Laser radar control method and device, vehicle-mounted terminal and medium

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a laser radar control method, a laser radar control device, a vehicle-mounted terminal and a medium.

Background

The vehicle may use lidar for localization or obstacle detection. In the working process of the laser radar, the laser transmitter can transmit high-beam laser, the high-beam laser can be scattered when striking a target object, the reflected high-beam laser can be detected by the receiver, and the distance of the target can be determined based on the running time of the reflected laser detected by the receiver. However, the laser light emitted by the lidar may cause injury to the human eye.

For example, the visible wavelength of human eyes is generally 380 nm-760 nm, and if a 905nm vehicle-mounted laser radar is used for a vehicle, the wavelength of the laser radar is close to the visible wavelength of human eyes, so that laser is easy to focus on the retina of the human eyes to form a point, and damage is caused to the human eyes.

Disclosure of Invention

In view of the above, the embodiments of the present application provide a control method, apparatus, vehicle-mounted terminal, and medium for adjusting the transmitting power of the laser radar according to different vehicle speeds and gear positions, so as to perform laser transmission with power matching with the real-time vehicle speed and gear position, and reduce the damage of the laser beam to human eyes.

A first aspect of an embodiment of the present application provides a method for controlling a lidar, including:

acquiring the speed and gear of a vehicle;

determining the transmitting power of a transmitter of a laser radar of the vehicle according to the vehicle speed and the gear;

and controlling the transmitter to perform laser emission according to the emission power.

A second aspect of an embodiment of the present application provides a control device for a lidar, including:

the acquisition module is used for acquiring the speed and the gear of the vehicle;

the determining module is used for determining the transmitting power of the transmitter of the laser radar of the vehicle according to the vehicle speed and the gear;

and the control module is used for controlling the transmitter to transmit laser according to the transmitting power.

A third aspect of an embodiment of the present application provides a vehicle-mounted terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the first aspect when executing the computer program.

A fourth aspect of the embodiment of the present application provides a vehicle, where the vehicle includes a lidar, and the vehicle implements control of the lidar by the above method.

A fifth aspect of an embodiment of the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as described in the first aspect above.

A sixth aspect of an embodiment of the present application provides a computer program product for causing an in-vehicle terminal to perform the method of the first aspect described above when the computer program product is run on the in-vehicle terminal.

Compared with the prior art, the embodiment of the application has the following advantages:

according to the embodiment of the application, the transmitting power of the transmitter of the laser radar can be determined according to the speed and the gear of the vehicle, so that the transmitter can be controlled to transmit laser according to the transmitting power. Based on the speed and the gear, the current resolution requirement of the vehicle on the laser radar can be judged, so that when the current resolution requirement of the vehicle on the laser radar is not high, the emission power is reduced, the output energy of laser is reduced, and the damage of the laser to human eyes is reduced. For example, when the vehicle speed is small and the vehicle is in a driving gear, the resolution requirement of the vehicle on the laser radar is low at present, and the transmitting power can be reduced at this time, so that the influence of laser on human eyes is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings that are required to be used in the embodiments or the description of the prior art.

Fig. 1 is a schematic flow chart of steps of a control method of a lidar according to an embodiment of the present application;

FIG. 2 is a schematic illustration of communication between various components of a vehicle according to an embodiment of the present application;

FIG. 3 is a flowchart illustrating steps of another method for controlling a lidar according to an embodiment of the present application;

fig. 4 is a schematic diagram of a control device of a lidar according to an embodiment of the present application;

fig. 5 is a schematic diagram of a vehicle-mounted terminal according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

As the level of autopilot continues to rise, the demand of vehicles for autopilot sensing systems and onboard sensors is also increasing. As a key sensor for L3 level intelligent driving, lidar (lidar) is regarded by many vehicle enterprises as the highest-order hardware that realizes automatic driving at the present stage. When the laser radar works, the laser transmitter can transmit high-beam laser to the target object to cause scattering; the laser can be detected by the receiver after being reflected by the target, and the laser radar can measure the running time of the reflected light to determine the distance of the target. Compared with millimeter wave radar, the laser radar has higher detection precision, wider range and better stability, and the current automatic driving scheme with the laser radar as a main sensor is favored by a plurality of train enterprises.

The laser radar mainly comprises four core components, namely a laser transmitter, a receiver, a signal processing unit and a rotating mechanism.

The lidar may be rotated based on a rotation mechanism to scan a target object. The scanning mode of the laser radar can comprise three modes of mechanical scanning, hybrid solid-state scanning and solid-state scanning. When the scanning mode is mechanical scanning, the emitting light sources are arranged in a linear array on the vertical surface to generate laser beams with different directions in the vertical direction, and then the step motor drives the emitting part to rotate to generate the laser beams with different directions in the horizontal direction, so that the 3D detection scanning of the target is realized by the line-changing surface. Hybrid solid state scanning may include spin-mirror scanning, one-dimensional rotating mirror scanning, MEMS scanning, rotating mirror + spin-mirror scanning. The rotary mirror type laser radar can scan in a rotary mirror type, and the rotary mirror type laser radar refers to a laser radar which uses a rotary mirror to control a transmitting angle so that a laser beam scans and covers a front view. The rotary mirror is mainly of a polygon mirror type or a refractive prism type. The MEMS refers to a design that a laser radar utilizes a micro-galvanometer reflection principle to control the emission angle of a laser beam to realize scanning in horizontal and vertical directions, so as to form an area array scanning visual field. The one-dimensional turning mirror laser radar is a scheme that the laser radar controls a laser beam to cover a front view by utilizing a one-dimensional turning mirror reflection principle, has a lower turning mirror rotating speed, can prolong service life, and is easy to pass through the technical management regulation of road transportation vehicles (hereinafter referred to as a vehicle gauge). The turning mirror and vibrating mirror scanning refers to the one-dimensional turning mirror realizing left-right turning scanning and the vibrating mirror realizing up-down scanning. The laser radar using solid-state scanning may include OPA solid-state laser radar, 3D flash solid-state laser radar. The OPA solid-state laser radar generates the inclined deflection of wave front at the transmitting antenna end by controlling the light emitting phase of each light source, and can obtain the scanning effect of light beams with different angles by applying different phases without mechanical scanning. The 3D Flash solid-state laser radar is based on the Flash principle, and a large energy beam is emitted to a detection area through an area array laser in a short time by one pulse, and then is received by a highly sensitive receiver array, so that the drawing of surrounding environment images is completed. In lidar, the transmitter generally uses an edge transmitter (EEL) or a vertical cavity surface transmitter (Vcsel). The edge emitter has high emitting power, so the detection distance is far, but the light spot is elliptical, and the beam collimation is poor. The light spot of the vertical cavity surface emitter is circular, the collimation is good, and the large-scale array and the photoelectric integration are easy to realize, so that the conventional vehicle enterprise has mass-produced the hybrid solid-state laser radar of the vertical cavity surface emitter and the rotating mirror, the detection distance can reach 200m@10%, namely, the detection distance can reach 200m by using the standard reflecting plate test of 10% reflectivity. The partial blind supplementing radar develops a flash scheme solid-state radar of vcsel+head, and the current vertical cavity surface transmitter is divided into 1D and 2D, wherein the 1D can realize horizontal scanning, and the 2D can realize two-direction scanning. In the examples of the present application @10% refers to a standard reflector test with 10% reflectivity.

The detection ranges of lasers with different wavelengths are different, and the influence on human eyes is different. For example, the detection distance of a vehicle-mounted laser radar using laser with the wavelength of 905nm is more than 150-220 m@10%, and the detection distance of the laser radar using laser with the wavelength of 1550nm can reach 250-300 m@10%. The visible wavelength of human eyes is generally 380 nm-760 nm. The 1550nm laser far beyond the human eye identification range cannot be focused into a point on the retina of the human eye, and most of the laser can be absorbed by water in the crystalline lens and cornea in the process of passing through the eyeball and is harmlessly dissipated in a thermal form, so that the laser hardly causes harm to human eyes; while 905nm lidar is closer to visible light wavelength, and is easy to focus into a point on retina of human eye.

In order to protect the human eye, the upper limit of the optical power of a laser radar of 905nm is usually low. Increasing the 905nm laser energy output causes permanent damage to the eye. 1550nm lidar with better eye safety may allow for higher power output, enabling longer detection distances. In addition, 1550nm wavelength laser has the advantages of strong anti-interference capability, better beam collimation degree and higher light source brightness, and the advantages of higher efficiency in laser emission and receiving can realize finer object identification.

From the above, reducing the emission power of the emitter can reduce the influence of the laser on human eyes. In the embodiment of the application, in order to reduce the influence of laser on human eyes, the power and the emission mode of the laser can be adjusted according to the state of the vehicle, so that the laser intensity is reduced or the laser emission is reduced. When the laser intensity is low or the laser beam is small, the damage to human eyes can be naturally reduced. The technical scheme of the application is described below through specific examples.

Referring to fig. 1, a schematic step flow diagram of a control method of a lidar according to an embodiment of the present application is shown, which may specifically include the following steps:

s101, acquiring the speed and gear of the vehicle.

The method of the present application may be applied to a vehicle, and the execution body of the embodiment may be a vehicle-mounted terminal, which may be a vehicle machine or other terminals for controlling the vehicle. Vehicles may include a Head Unit (HUT), a gateway, an intelligent driving controller, and a lidar. The vehicle, the gateway, the intelligent driving domain controller and the laser radar can communicate through Ethernet (ETH).

Fig. 2 shows a communication schematic diagram of each component of a vehicle according to an embodiment of the present application. As shown in fig. 2, the vehicle may transmit information to the gateway through ethernet, the gateway may transmit information to the intelligent driving controller through ethernet, and the intelligent driving controller may transmit information to the laser radar through ethernet.

Lidar is commonly used for automatic driving of vehicles. For example, lidar may be used in auto-assisted navigational driving (Navigate on Autopilot, NOA), urban autopilot (Navigation Guided Pilot, NGP), cruise assist (CP), auto-park assist (Auto Parking Assist, APA), point-to-point (E2E) parking.

When the laser radar works, the laser radar can send the point cloud information to the intelligent driving controller in real time, the intelligent driving controller can acquire the speed and the gear of the vehicle through the Ethernet, and then the speed and the gear are sent to the laser radar, so that the laser radar can determine the transmitting power of the transmitter according to the speed and the gear. In one possible implementation, the intelligent driving controller may send a vehicle speed gear request to the gateway through the ethernet, the gateway may send the vehicle speed gear request to the vehicle machine through the ethernet, then the vehicle machine may obtain the vehicle speed and the gear, and transmit the vehicle speed and the gear to the gateway through the ethernet, the gateway may transmit the vehicle speed and the gear to the intelligent driving controller through the ethernet, and the intelligent driving controller may transmit the vehicle speed and the gear to the laser radar through the ethernet.

The gears of the vehicle may include P, R, N, D, S, L and the like, wherein the P gear is a parking gear, the R gear is a reverse gear, the N gear is neutral, the D gear is a driving gear, the S gear is a moving gear, and the L gear is a low-speed forward gear. When the vehicle is in the P gear and the R gear, the vehicle is in-situ, so that the P/N gear is called a static gear in the application; and the non-P/N gear is referred to as a drive gear.

S102, determining the transmitting power of a transmitter of the laser radar of the vehicle according to the vehicle speed and the gear.

In the running process of the vehicle, if the speed of the vehicle is smaller, the resolution requirement on the laser radar is not high, and the influence of the reduction of the transmitting power of the laser radar on the vehicle is not great; if the speed of the vehicle is relatively high, the resolution of the laser radar is required to be high, and the transmitting power of the laser radar cannot be reduced. Based on this, the transmission power of the lidar can be adjusted according to the vehicle speed and the gear.

When the vehicle is running, the shift position may be a running shift position, and the running shift position may be a non-P/N shift position, for example, a D shift position. In this embodiment, the transmission power of the transmitter may include a first transmission power, a second transmission power, and a standard transmission power, where the first transmission power is lower than the standard transmission power, and the second transmission power is lower than the first transmission power. When the vehicle is in a driving gear, different emission powers can be selected according to different vehicle speeds.

For example, a first vehicle speed, a second vehicle speed, and a third vehicle speed may be determined, wherein the first vehicle speed is greater than the second vehicle speed, the second vehicle speed is greater than the third vehicle speed, and the third vehicle speed may be a vehicle speed when the vehicle is stationary. Under the condition that the gear of the vehicle is a driving gear, if the vehicle speed is larger than the first vehicle speed, the fact that the resolution requirement of the vehicle on the laser radar is higher at present can be determined, and therefore the transmitting power can be the standard transmitting power of the transmitter; under the condition that the gear is a driving gear, if the vehicle speed is smaller than the first vehicle speed and larger than or equal to the second vehicle speed, the resolution requirement of the laser radar can be determined to be not too high, so that the transmitting power is the first transmitting power; if the vehicle speed is smaller than the second vehicle speed and larger than the third vehicle speed, the resolution requirement of the laser radar can be determined to be lower, so that the transmitting power is the second transmitting power.

S103, controlling the transmitter to perform laser emission according to the emission power.

After the transmitting power is determined, the vehicle-mounted terminal can control the laser radar to transmit laser according to the preset transmitting power, so that target recognition or obstacle recognition is performed based on the transmitted laser, and the automatic driving function of the vehicle is further supported.

In the embodiment of the application, the resolution requirement of the vehicle on the laser radar can be determined according to the speed and the gear of the vehicle; when the vehicle is determined to have low resolution requirements on the laser radar based on the speed and the gear of the vehicle, the transmitting power of the transmitter of the laser radar can be reduced, so that the intensity of the transmitted laser beam is reduced, which is equivalent to the reduction of the output energy of laser, and the damage of the laser to human eyes is reduced.

Referring to fig. 3, a schematic step flow diagram of another laser radar control method provided by the embodiment of the present application is shown, which may specifically include the following steps:

s301, acquiring the speed and gear of the vehicle.

S302, determining the transmitting power of a transmitter of the laser radar of the vehicle according to the vehicle speed and the gear.

S301 to S302 of this embodiment are similar to S101 to S102 of the previous embodiment, and are referred to each other and are not described herein.

S303, determining the transmitting mode of the transmitter based on the vehicle speed and the gear.

The transmitting modes may include a first transmitting mode and a second transmitting mode, where the first transmitting mode may be normal addressing transmitting and the second transmitting mode may be interlaced addressing transmitting. For convenience of explanation of the interlace addressing transmission and the normal addressing transmission, it is assumed that it is necessary to transmit laser light into one 6*6 table, and the interlace addressing transmission may transmit laser light to only a part of the tables each time of transmitting laser light, for example, may transmit laser light to only a singular row, and transmit laser light to only a double row at the next time of transmitting laser light. Whereas normal addressing emissions laser each form each time laser is emitted. It follows that with interlaced addressing emission fewer laser beams are emitted than with normal addressing emission and therefore less harm to the human eye.

Of course, when laser is emitted, the requirement of the vehicle itself needs to be met, so that the emission mode can be determined according to the vehicle speed and the gear.

For example, in the case where the gear is a driving gear, if the vehicle speed is greater than or equal to the second vehicle speed, it may be determined that the transmission mode is the first transmission mode, that is, the transmission may be normally addressed when the vehicle speed is higher; and under the condition that the gear is a driving gear, if the vehicle speed is greater than the third vehicle speed and smaller than the second vehicle speed, determining that the emission mode is a second emission mode, namely that interlaced addressing emission can be performed when the vehicle speed is not high.

S304, controlling the transmitter to transmit laser based on the transmitting power and the transmitting mode.

Under different vehicle speeds and gear positions, the transmitting power and transmitting mode of the transmitter can be determined, and then the transmitter is controlled to transmit laser according to the transmitting power and transmitting mode.

In addition, in the case of a stationary gear, that is, when the user is in the on-site vehicle and the vehicle is in the P/N gear, if the vehicle speed is maintained at the third vehicle speed, the transmitter and the receiver of the lidar are turned off. The third vehicle speed may be 0. At a third vehicle speed, the vehicle is in place.

In addition, there are some situations where lidar may not be applicable, for example, where the vehicle is in a waiting scenario where the vehicle is stationary, for example, where the vehicle is at an intersection and the heading is a red light, it may be determined that the vehicle is in a waiting scenario. Based on the navigation position of the vehicle and the camera identification information, whether the vehicle is in a waiting scene or not can be determined, and if the vehicle is in the waiting scene, a laser radar is not required to be used at the moment, so that the laser radar can be controlled to sleep. For example, it may be determined that a vehicle arrives at an intersection based on the navigation position, that the forward direction is red light based on the imaging identification information, and that no vehicle is present in front of the vehicle, and that the vehicle is at the intersection first stop line, the lidar may be controlled to sleep.

The transmitter comprises a window, the laser emitted by the transmitter can be emitted through the window, and the window can filter light beams; when the window is damaged, laser emitted by the emitter directly reaches human eyes without passing through the window, and the damage to the human eyes is large, so that the laser radar can be controlled to sleep when the window is damaged. For example, the vehicle-mounted terminal may determine a state of the window of the transmitter, and if the window is in a broken state, control the lidar to sleep. In one possible implementation, the lidar may determine whether the window is broken based on window echo energy. For example, if the window is made of ITO conductive glass, the window can be periodically electrified, and whether the window is damaged or not can be determined by measuring the conductive current of the window.

In the embodiment of the application, in order to facilitate the control of the laser radar, a plurality of different working modes can be set for the laser radar: normal, standby, lowpower, shutdown. In Normal mode, the laser radar normally works, in Standby mode, the laser radar only turns off the transmitter and the receiver, in Lowpower mode, the laser radar can work according to the transmitting power lower than the standard power, in shutdown mode, the laser radar is in a dormant state, and only the power management integrated circuit (Power Management IC, PMIC) works in a low power consumption state. It should be noted that, in the Lowpower mode, the lidar may include two working states of Lowpower I and Lowpower II, the transmitting power corresponding to Lowpower I may be lower than the transmitting power corresponding to Lowpower II, and the second transmitting power may be lower than the standard power of the lidar. For example, the transmission power corresponding to Lowpower I may be 40% of the standard power, and transmission may be performed using interlace addressing in Lowpower I state. The corresponding transmit power of Lowpower II may be 60% of the standard power, and in Lowpower II state the transmission may be performed using normal addressing.

When the laser radar is controlled based on the mode, after the vehicle is powered on normally, the laser radar can be awakened by the intelligent driving controller and then enters a Lowpower I state so as to maintain obstacle detection when a user is ready to drive. Meanwhile, if the vehicle speed value is detected to be 0 all the time within a preset time, for example within 10 minutes, and the gear is the P gear, the user is indicated to be in-situ using, and the laser radar can enter a standby mode. When the laser radar receives that the gear is cut into a non-P/N gear, the laser radar can enter a Lowpower I mode. When the vehicle resumes running, the vehicle enters a Lowpower I state, when the vehicle speed is increased to more than 40kph, the vehicle enters a Lowpower II state, and when the vehicle speed is increased to more than 80kph, the laser radar keeps a normal state.

In addition, the intelligent driving controller may further add a status signal for calling a command of the laser radar to send the command to the laser radar, and an execution instruction Coding corresponding to the command of the laser radar may be as shown in table 1:

TABLE 1

As shown in table 1, when the lidar command is 0x0, the lidar does not respond (No request); when the lidar command is 0x1, the lidar responds (request), and the standby mode described above is performed, i.e., the transmitter and receiver are turned off.

The intelligent driving controller utilizes the navigation position issued by the vehicle machine and combines the lane line in the middle of the road identified by the camera device, so that the scene of a saluting pedestrian, the waiting scene of the first stop line of the crossroad and the like are identified, and when the waiting driving speed of the vehicle is 0, the intelligent driving controller can issue a laser radar command: and 0x1 is given to the laser radar, and the laser radar preferably executes the intelligent driving controller issuing logic after receiving the command, namely, responds to the command, and adjusts the laser radar into a standby mode. And when the gear of the vehicle is switched to be not P/N and the speed of the vehicle is not 0, executing the laser radar self-control logic again.

When the laser radar window is damaged, the transmitter can cause the greatest damage to human eyes if the full power output is kept. Therefore, the laser radar can monitor the damage state of the window in real time by measuring the conductive current of the window, and when the window is damaged, the laser radar enters a shutdown state and prompts a user of the laser radar hardware fault on the vehicle, so that the damage of laser to human eyes is reduced.

In this embodiment, the transmitting power and transmitting mode of the transmitter are determined based on the vehicle speed and the gear, so that when the resolution requirement of the automatic driving function of the vehicle on the laser radar is not high, the transmitting power and the transmitted light beam can be reduced, and the damage of the laser to human eyes can be reduced. In addition, when the vehicle does not need to use the laser radar or the window of the transmitter is damaged, the laser radar can be controlled to sleep, so that the laser is not emitted; the transmitter and receiver may be turned off while the user is in place. By reducing the laser emission in different scenes, the damage of the laser to the human eye can be reduced.

It should be noted that, the sequence number of each step in the above embodiment does not mean the sequence of execution sequence, and the execution sequence of each process should be determined by its function and internal logic, and should not limit the implementation process of the embodiment of the present application in any way.

Referring to fig. 4, a schematic diagram of a control device of a lidar according to an embodiment of the present application may specifically include an obtaining module 41, a determining module 42, and a determining module 43, where:

an acquisition module 41 for acquiring a vehicle speed and a gear of the vehicle;

a determining module 42, configured to determine a transmission power of a transmitter of a lidar of the vehicle according to the vehicle speed and the gear;

and the control module 43 is used for controlling the transmitter to perform laser emission according to the emission power.

In one possible implementation, the determining module 42 includes:

the first transmitting power determining module is used for determining that the transmitting power is the standard transmitting power of the transmitter if the vehicle speed is larger than a first vehicle speed under the condition that the gear is a driving gear;

the second transmitting power determining module is used for determining that the transmitting power is first transmitting power if the vehicle speed is smaller than the first vehicle speed and larger than or equal to a second vehicle speed under the condition that the gear is the driving gear, and the first transmitting power is lower than the standard transmitting power;

and the third transmitting power determining module is used for determining that the transmitting power is second transmitting power if the vehicle speed is smaller than the second vehicle speed and larger than a third vehicle speed under the condition that the gear is the driving gear, and the second transmitting power is lower than the first transmitting power.

In one possible implementation manner, the apparatus further includes:

the transmitting mode determining module is used for determining the transmitting mode of the transmitter based on the vehicle speed and the gear;

the control module 43 is further configured to control the transmitter to perform laser emission based on the emission power and the emission mode.

In one possible implementation manner, the transmitting mode determining module includes:

the first transmission mode determining submodule is used for determining that the transmission mode is a first transmission mode if the vehicle speed is greater than or equal to a second vehicle speed under the condition that the gear is a driving gear;

and the second emission mode determining submodule is used for determining that the emission mode is a second emission mode if the vehicle speed is greater than a third vehicle speed and smaller than the second vehicle speed under the condition that the gear is the driving gear, wherein laser emitted by the second emission mode is less than laser emitted by the first emission mode.

In one possible implementation manner, the apparatus further includes:

and the closing module is used for closing the transmitter and the receiver of the laser radar if the vehicle speed is maintained at a third vehicle speed under the condition that the gear is a static gear.

In one possible implementation manner, the apparatus further includes:

the waiting scene judging module is used for determining whether the vehicle is in a waiting scene or not based on the navigation position of the vehicle and the camera shooting identification information, and the vehicle is in a static state in the waiting scene;

and the first dormancy module is used for controlling the laser radar to be dormant if the vehicle is in the waiting scene.

In one possible implementation manner, the apparatus further includes:

a window state determining module, configured to determine a state of a window of the transmitter, where the window is configured to transmit laser emitted by the transmitter;

and the second dormancy module is used for controlling the laser radar to be dormant if the window is in a damaged state.

For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference should be made to the description of the method embodiments.

Fig. 5 is a schematic structural diagram of a vehicle-mounted terminal according to an embodiment of the present application. As shown in fig. 5, the in-vehicle terminal 500 of this embodiment includes: at least one processor 50 (only one is shown in fig. 5), a memory 51 and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, the processor 50 implementing the steps in any of the various method embodiments described above when executing the computer program 52.

The in-vehicle terminal 500 may be a car machine or other terminal for controlling a vehicle. The in-vehicle terminal may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the in-vehicle terminal 500 and is not meant to limit the in-vehicle terminal 500, and may include more or less components than illustrated, or may combine certain components, or different components, such as may also include input-output devices, network access devices, etc.

The processor 50 may be a central processing unit (Central Processing Unit, CPU), the processor 50 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 51 may in some embodiments be an internal storage unit of the in-vehicle terminal 500, such as a hard disk or a memory of the in-vehicle terminal 500. The memory 51 may also be an external storage device of the in-vehicle terminal 500 in other embodiments, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the in-vehicle terminal 500. Further, the memory 51 may also include both an internal storage unit and an external storage device of the in-vehicle terminal 500. The memory 51 is used for storing an operating system, application programs, boot loader (BootLoader), data, other programs, etc., such as program codes of the computer program. The memory 51 may also be used to temporarily store data that has been output or is to be output.

The embodiment of the application also provides a vehicle which comprises the laser radar, and the vehicle realizes the control of the laser radar through the embodiments of the method.

Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps for implementing the various method embodiments described above.

Embodiments of the present application provide a computer program product that, when run on a vehicle-mounted terminal, enables the vehicle-mounted terminal to perform the steps of the method embodiments described above.

The above embodiments are only for illustrating the technical solution of the present application, and are not limited thereto. Although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. A control method of a laser radar, characterized by comprising:

acquiring the speed and gear of a vehicle;

determining the transmitting power of a transmitter of a laser radar of the vehicle according to the vehicle speed and the gear;

and controlling the transmitter to perform laser emission according to the emission power.

2. The method of claim 1, wherein the determining the transmit power of the transmitter of the lidar of the vehicle based on the vehicle speed and the gear comprises:

under the condition that the gear is a driving gear, if the vehicle speed is greater than a first vehicle speed, determining that the transmitting power is the standard transmitting power of the transmitter;

if the vehicle speed is smaller than the first vehicle speed and larger than or equal to the second vehicle speed under the condition that the gear is the driving gear, determining the transmitting power as a first transmitting power, wherein the first transmitting power is lower than the standard transmitting power;

and under the condition that the gear is the driving gear, if the vehicle speed is smaller than the second vehicle speed and larger than a third vehicle speed, determining the transmitting power as second transmitting power, wherein the second transmitting power is lower than the first transmitting power.

3. The method of claim 1, wherein the method further comprises:

determining a transmitting mode of the transmitter based on the vehicle speed and the gear;

the controlling the transmitter to perform laser emission according to the emission power includes:

and controlling the transmitter to transmit laser based on the transmitting power and the transmitting mode.

4. The method of claim 3, wherein the determining a transmission mode of the transmitter based on the vehicle speed and the gear comprises:

under the condition that the gear is a driving gear, if the vehicle speed is greater than or equal to a second vehicle speed, determining that the emission mode is a first emission mode;

and if the vehicle speed is greater than a third vehicle speed and less than the second vehicle speed, determining that the emission mode is a second emission mode, wherein laser emitted by the second emission mode is less than laser emitted by the first emission mode.

5. The method of any one of claims 1-4, wherein the method further comprises:

and if the vehicle speed is maintained at a third vehicle speed under the condition that the gear is a static gear, turning off a transmitter and a receiver of the laser radar.

6. The method of any one of claims 1-4, wherein the method further comprises:

determining whether the vehicle is in a waiting scene or not based on the navigation position of the vehicle and the camera shooting identification information, wherein the vehicle is in a stationary state in the waiting scene;

and if the vehicle is in the waiting scene, controlling the laser radar to sleep.

7. The method of any one of claims 1-4, wherein the method further comprises:

determining the state of a window of the transmitter, wherein the window is used for transmitting laser emitted by the transmitter;

and if the window is in a damaged state, controlling the laser radar to sleep.

8. A control device for a laser radar, comprising:

the acquisition module is used for acquiring the speed and the gear of the vehicle;

the determining module is used for determining the transmitting power of the transmitter of the laser radar of the vehicle according to the vehicle speed and the gear;

and the control module is used for controlling the transmitter to transmit laser according to the transmitting power.

9. A vehicle terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1-7 when executing the computer program.

10. A computer readable storage medium storing a computer program, which when executed by a processor implements the method according to any one of claims 1-7.