CN117406201A - Laser radar fault evaluation method, device, computer equipment and storage medium - Google Patents
Laser radar fault evaluation method, device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a laser radar fault assessment method, a laser radar fault assessment device, a computer device, a storage medium and a computer program product. The method comprises the following steps: acquiring the perception data missing time length and the perception data missing area of the laser radar; entering a fault processing branch according to the perceived data missing duration, and setting different laser radar fault grades in different fault processing branches; generating a laser radar fault grade upgrading instruction according to the perception data missing area and the vehicle running state; and obtaining the laser radar fault grade according to the laser radar fault grade upgrading instruction. The method can be used for improving the safety performance of vehicle running by combining the perception of the vehicle body environment, improving the safety and smoothness of running, coordinating the failure of the vehicle system and reducing the safety risk.
Description
Technical Field
The present application relates to the field of vehicle security technologies, and in particular, to a laser radar fault assessment method, a laser radar fault assessment apparatus, a computer device, a storage medium, and a computer program product.
Background
With the development of autopilot technology, lidar is widely used as an important environmental sensing device for detecting and acquiring information of surrounding environment. The laser radar provides accurate distance, position, shape and other data by emitting laser beams and receiving reflected light signals so as to help the vehicle to carry out navigation, obstacle detection, target identification and other tasks. However, since the lidar is subjected to environmental factors, equipment aging or failure during operation, failure or partial failure may occur. When the laser radar fails, the automatic driving system may sense the inaccuracy of the surrounding environment, thereby reducing the safety of the system. Therefore, it is important to accurately evaluate and monitor the failure and malfunction of the lidar.
The current measures taken to protect vehicles against laser radar failure or malfunction have been developed mainly from three aspects: firstly, aiming at external protection of the laser radar, namely, adding a shell and the like to reduce external influence caused by weather reasons, external collision and the like; secondly, the sensor fusion principle is utilized, and the sensing capability of the automatic driving vehicle is ensured through redundant sensors (such as millimeter wave radar, cameras and the like); thirdly, aiming at the data received by the laser radar, judging the validity of the data.
However, these methods often only detect the failure of the lidar, and cannot analyze and judge the safety state of the vehicle in the event of failure of the lidar.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a laser radar fault assessment method, apparatus, computer device, computer-readable storage medium, and computer program product that are capable of ensuring vehicle safety in the event of a failure of a laser radar fault.
In a first aspect, the present application provides a method for laser radar fault assessment. The method comprises the following steps:
acquiring the perception data missing time length and the perception data missing area of the laser radar;
entering a fault processing branch according to the perceived data missing duration, and setting different laser radar fault grades in different fault processing branches;
generating a laser radar fault grade upgrading instruction according to the perception data missing area and the vehicle running state;
and obtaining the laser radar fault grade according to the laser radar fault grade upgrading instruction.
In one embodiment, the method further comprises:
dividing the vehicle whole area and numbering the vehicle whole area;
matching a sensing area of the first laser radar with a vehicle whole area to obtain a first laser radar sensing number, and matching a sensing area of the second laser radar with the vehicle whole area to obtain a second laser radar sensing number; the laser radar sensing number is the number of the vehicle whole area which can be sensed by the laser radar;
Calculating the first laser radar sensing number and the second laser radar sensing number to obtain a vehicle whole area number which can be sensed by the total laser radar; the total lidar includes a first lidar and a second lidar.
In one embodiment, generating the lidar fault level upgrade instruction based on the region of perceived data loss and the vehicle operating state comprises:
acquiring a fault blind area and a vehicle running state; the fault blind area is a vehicle whole area which can not be perceived by the total laser radar for all the laser radars in any vehicle whole area; the vehicle running states include a stationary state and a running state;
under the condition that the vehicle is in a stationary state, the laser radar fault level is not upgraded; judging whether a fault blind area exists or not under the condition that the vehicle is in a running state;
when the running direction of the vehicle is coincident with the fault blind area, the fault level of the laser radar is upgraded;
when the running direction of the vehicle is not coincident with the fault blind area, the laser radar fault level is not upgraded.
In one embodiment, when the running direction of the vehicle is not coincident with the fault blind area, the laser radar fault level is not updated, and then the method comprises the following steps:
Obtaining an effective sensing result of a frame on a fault blind area, and judging the obstacle state in a preset range; obstacle states include no obstacle, stationary obstacle, and dynamic obstacle;
when no obstacle exists in a preset range or a static obstacle exists, the fault level of the laser radar is not upgraded;
judging whether the dynamic obstacles are in a laser radar sensing area or not when the dynamic obstacles exist in a preset range;
when the laser radar sensing area is located, the laser radar fault level is not upgraded; and when the laser radar is not in the laser radar sensing area, the laser radar fault level is upgraded.
In one embodiment, calculating the first lidar sensing number and the second lidar sensing number to obtain the vehicle whole area that can be sensed by the total lidar includes:
the first laser radar perception number and the second laser radar perception number are expressed by binary system;
and processing the first laser radar sensing number and the second laser radar sensing number through bit operation, and judging whether the sensing area of the total laser radar meets the requirement of the complete sensing area.
In one embodiment, the method further comprises:
respectively configuring a laser radar perception number for the first laser radar and the second laser radar;
And simulating a laser radar fault scene by configuring parameters in the laser radar perception number.
In a second aspect, the application also provides a laser radar fault assessment device. The device comprises:
the data acquisition module is used for acquiring the perception data missing time length and the perception data missing area of the laser radar;
the branch module is used for entering a fault processing branch according to the perceived data missing duration, and setting different laser radar fault grades in different fault processing branches;
the judging module is used for generating a laser radar fault grade upgrading instruction according to the perception data missing area and the vehicle running state;
and the decision module is used for obtaining the laser radar fault grade according to the laser radar fault grade upgrading instruction.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing said computer program:
acquiring the perception data missing time length and the perception data missing area of the laser radar;
entering a fault processing branch according to the perceived data missing duration, and setting different laser radar fault grades in different fault processing branches;
Generating a laser radar fault grade upgrading instruction according to the perception data missing area and the vehicle running state;
and obtaining the laser radar fault grade according to the laser radar fault grade upgrading instruction.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring the perception data missing time length and the perception data missing area of the laser radar;
entering a fault processing branch according to the perceived data missing duration, and setting different laser radar fault grades in different fault processing branches;
generating a laser radar fault grade upgrading instruction according to the perception data missing area and the vehicle running state;
and obtaining the laser radar fault grade according to the laser radar fault grade upgrading instruction.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprising a computer program which, when executed by a processor, performs the steps of:
acquiring the perception data missing time length and the perception data missing area of the laser radar;
entering a fault processing branch according to the perceived data missing duration, and setting different laser radar fault grades in different fault processing branches;
Generating a laser radar fault grade upgrading instruction according to the perception data missing area and the vehicle running state;
and obtaining the laser radar fault grade according to the laser radar fault grade upgrading instruction.
According to the laser radar fault evaluation method, the device, the computer equipment, the storage medium and the computer program product, when the laser radar has a perception fault, different fault processing branches are set according to the perception data missing time length of the laser radar, and different laser radar fault grades are set in the different fault processing branches; generating a laser radar fault grade upgrading instruction through a perception data missing area of the laser radar, and inputting the laser radar fault grade upgrading instruction into a corresponding fault processing branch to obtain the laser radar fault grade. Through setting up different fault handling branches, can classify according to the perception data lack duration to take the pointedly measure, avoid producing unnecessary interruption or redundant operation to entire system, through accurate fault handling branch setting, can improve the efficiency and the reliability of system. And judging the degree and the range of the laser radar fault by analyzing the region with the missing perception data, and correspondingly providing a fault grade upgrading instruction. The system can help operation and maintenance personnel to quickly and accurately locate and solve the fault problem of the laser radar, reduce the fault removal time and cost, reduce the downtime of the system and improve the stability and usability of the system.
Drawings
FIG. 1 is a diagram of an application environment for a lidar fault assessment method in one embodiment;
FIG. 2 is a flow chart of a method of lidar fault assessment in one embodiment;
FIG. 3 is a flow chart of a method of lidar fault assessment in one embodiment;
FIG. 4 is a schematic illustration of vehicle body area division in one embodiment;
FIG. 5 is a flow diagram of a failure and fault assessment system in one embodiment;
FIG. 6 is a flow chart of a method for evaluating a lidar fault in another embodiment;
FIG. 7 is a block diagram of a lidar fault evaluation device in one embodiment;
fig. 8 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The laser radar fault evaluation method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104 or may be located on a cloud or other network server. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, where the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart vehicle devices, and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The server 104 may be implemented as a stand-alone server or as a server cluster of multiple servers.
In one embodiment, as shown in fig. 2, a method for evaluating a laser radar fault is provided, and the method is applied to the server in fig. 1 for illustration, and includes the following steps:
step 202, obtaining the perception data missing time length and the perception data missing area of the laser radar.
Step 204, entering a fault processing branch according to the perceived data missing duration, and setting different laser radar fault levels in different fault processing branches.
And 206, generating a laser radar fault level upgrading instruction according to the perception data missing area and the running state of the vehicle.
Step 208, obtaining the laser radar fault level according to the laser radar fault level upgrading instruction.
Specifically, referring to fig. 3, fig. 3 is a schematic diagram of a laser radar fault evaluation flow. And receiving perception data of a plurality of laser radars according to any laser radar combined configuration on the automatic driving vehicle. When all the laser radar data are successfully received, confirming that the sensing is normal; when the condition that the laser radar data is not successfully received exists, calculating the time difference between the current time and the last time of receiving the laser radar sensing data, wherein the time difference is the sensing data missing duration, and entering a fault processing branch according to the sensing data missing duration. For example, if the perceived missing data period is less than T1, then continuing to attempt to receive data; the sensing data missing time is between T1 and T2, or between T2 and T3 or greater than T3, and then the laser radar failure and fault evaluation system is entered.
Judging the running state of the vehicle in the laser radar failure and fault evaluation system, wherein the running state comprises a stationary state and a moving state, and when the vehicle is in the stationary state, a laser radar fault grade upgrading instruction is not generated; when the vehicle is in a motion state, a fault blind area is acquired according to a perception data missing area of the laser radars, wherein the perception data missing area is an area which is perceived by any laser radar but cannot be perceived due to faults, and the fault blind area is an area of the whole body of the vehicle which cannot be perceived by all the laser radars. Judging whether a fault blind area exists, and if not, not generating a laser radar fault grade upgrading instruction; if the fault blind area exists, judging whether the motion state of the vehicle is consistent with the fault blind area, and if the motion state of the vehicle is inconsistent with the fault blind area, not generating a laser radar fault grade upgrading instruction; if the detected values are consistent, reading an effective sensing result of a frame on the fault blind area, and further analyzing and judging. And triggering various class errors and issuing laser radar fault classes after receiving a laser radar fault class upgrading instruction sent by the laser radar failure and fault evaluation system.
In an alternative manner of this embodiment, different error levels are set in each fault handling branch, and when the perceived data missing duration is between T1 and T2, when no lidar fault level upgrade instruction is received, a level a error is triggered; and triggering a B-level error when receiving a laser radar fault level upgrading instruction. When the perceived data missing duration is between T2 and T3, triggering a B-level error when a laser radar fault level upgrading instruction is not received; and triggering a C-level error when receiving a laser radar fault level upgrading instruction. When the perceived data missing duration exceeds T3, triggering a C-level error when a laser radar fault level upgrading instruction is not received; and triggering a D-level error when receiving a laser radar fault level upgrading instruction.
In the laser radar fault evaluation method, when the laser radar has a perception fault, different fault processing branches are set according to the perception data missing time length of the laser radar, and different laser radar fault grades are set in the different fault processing branches; generating a laser radar fault grade upgrading instruction through a perception data missing area of the laser radar, and inputting the laser radar fault grade upgrading instruction into a corresponding fault processing branch to obtain the laser radar fault grade. Through setting up different fault handling branches, can classify according to the perception data lack duration to take the pointedly measure, avoid producing unnecessary interruption or redundant operation to entire system, through accurate fault handling branch setting, can improve the efficiency and the reliability of system. And judging the degree and the range of the laser radar fault by analyzing the region with the missing perception data, and correspondingly providing a fault grade upgrading instruction. The method can rapidly and accurately locate and solve the fault problem of the laser radar, reduce the fault removal time and cost, reduce the downtime of the system and improve the stability and usability of the system.
In one embodiment, the lidar fault assessment method further comprises: dividing the vehicle whole area and numbering the vehicle whole area; matching a sensing area of the first laser radar with a vehicle whole area to obtain a first laser radar sensing number, and matching a sensing area of the second laser radar with the vehicle whole area to obtain a second laser radar sensing number; the laser radar sensing number is the number of the vehicle whole area which can be sensed by the laser radar; calculating the first laser radar sensing number and the second laser radar sensing number to obtain a vehicle whole area number which can be sensed by the total laser radar; the total lidar includes a first lidar and a second lidar.
For example, referring to fig. 4, fig. 4 is a schematic view of the vehicle's whole area division. According to the length and width of each vehicle, the periphery of the vehicle body is divided into 8 areas, the front of the vehicle head is the area with the initial number of 1, and then the areas around the vehicle body are numbered clockwise. Assuming that lidar_1 (lidar 1) can only see the sensing region 1 in front, the sensing region corresponding to lidar_1 is "10000000"; assuming that lidar_2 is installed behind the vehicle and three areas 4, 5, 6 behind the vehicle can be seen, the sensing area corresponding to lidar_2 is "00011100". The complete sensing area of the automatic driving vehicle is "11111111", one or more laser radars are generally arranged on the vehicle, and the requirement of the complete sensing area is met by calculating all sensing areas of the vehicle-mounted laser radars.
Further, the vehicle whole area can be divided into finer areas according to the length and width of each vehicle and the radar sensing angle, for example, the vehicle whole area is divided into 16 areas, the area with the initial number of 1 is arranged at the left front of the vehicle head, and then the area around the vehicle body is numbered clockwise. Assuming that lidar_1 can see the sensing region 1 right in front, the sensing region corresponding to lidar_1 is "1100000000000000"; assuming that lidar_2 is installed behind the vehicle and four areas of 8, 9, 10 and 11 behind the vehicle can be seen, the sensing area corresponding to lidar_2 is "0000000111100000", and the sensing area of the full-automatic driving vehicle is "1111111111111111".
In this embodiment, by dividing the vehicle whole area and numbering the laser radar sensing area, the environment around the vehicle can be sensed and analyzed more accurately. According to different vehicle whole body areas, the perception numbers of the laser radars can be obtained correspondingly, each number represents a specific area perceived by the laser radar, accurate description and division of the surrounding environment of the vehicle can be provided, subsequent data processing and analysis are convenient, the understanding and processing capacity of the vehicle-mounted laser radar system to the environment are improved, and therefore the perception and decision making capacity of the laser radars are enhanced.
In one embodiment, sensing the data loss region and the vehicle operating condition, generating the lidar fault level upgrade instruction comprises: acquiring a fault blind area and a vehicle running state; the fault blind area is a vehicle whole area which can not be perceived by the total laser radar for all the laser radars in any vehicle whole area; the vehicle running states include a stationary state and a running state; under the condition that the vehicle is in a stationary state, the laser radar fault level is not upgraded; judging whether a fault blind area exists or not under the condition that the vehicle is in a running state; when the running direction of the vehicle is coincident with the fault blind area, the fault level of the laser radar is upgraded; when the running direction of the vehicle is not coincident with the fault blind area, the laser radar fault level is not upgraded.
Specifically, referring to fig. 5, fig. 5 is a schematic flow chart of the failure and fault assessment system. After the laser radar of the vehicle has a perception fault, triggering the automatic driving vehicle to enter a laser radar failure and fault evaluation system to acquire the running state of the vehicle, and when the vehicle is in a static state, not sending a laser radar fault grade upgrading instruction. When the vehicle is in a moving state, fov (Field of View, angle of View) covered by the laser radar data of the received data is calculated, whether the effective data of the laser radar can cover 8 areas around the vehicle body is judged, and if the effective data can cover the areas around the vehicle body, a laser radar fault grade upgrading instruction is not sent; if the laser radar is not completely covered, judging that the uncovered area is a fault blind area of the laser radar, and judging whether the fault blind area of the laser radar is consistent with the movement direction of the vehicle. For example, if the movement direction of the vehicle is forward and the area with the number 1 is a fault blind area of the laser radar, or if the movement direction of the vehicle is backward and the area with the number 5 is a fault blind area of the laser radar, it is determined that the fault blind area of the laser radar is consistent with the movement direction of the vehicle, and then a laser radar fault level upgrading instruction is sent. Further, if the vehicle is in a left-turn motion state, judging whether the three areas 1, 8 and 7 are fault blind areas of the laser radar.
In this embodiment, through the consistency judgment of the vehicle state and the fault blind area, the system processing flow is reduced, the safety state of the vehicle is effectively evaluated, the relevant personnel is further reminded of paying attention to the lack of the perception data of the laser radar, the recognition and processing capability of the possible obstacle is enhanced, the reliability of the fault evaluation system of the laser radar is improved, and the running safety of the vehicle is improved.
In one embodiment, referring to FIG. 5, FIG. 5 is a schematic diagram of a failure and fault assessment system. When the running direction of the vehicle is not coincident with the fault blind area, the laser radar fault level is not upgraded, and then the method comprises the following steps: obtaining an effective sensing result of a frame on a fault blind area, and judging the obstacle state in a preset range; obstacle states include no obstacle, stationary obstacle, and dynamic obstacle; when no obstacle exists in a preset range or a static obstacle exists, the fault level of the laser radar is not upgraded; judging whether the dynamic obstacles are in a laser radar sensing area or not when the dynamic obstacles exist in a preset range; when the laser radar sensing area is located, the laser radar fault level is not upgraded; and when the laser radar is not in the laser radar sensing area, the laser radar fault level is upgraded.
Specifically, when the vehicle running direction is not coincident with the fault blind area, the laser radar system reads an effective sensing result of one frame on the fault blind area and judges whether an obstacle exists in a preset range. When no obstacle exists in the preset range, a laser radar fault grade upgrading instruction is not generated; when the obstacle exists in the preset range, the state of the obstacle is further judged, wherein the state comprises a static obstacle and a dynamic obstacle. When the obstacle in the preset range is a static obstacle, a laser radar fault level upgrading instruction is not generated; when the obstacle is a dynamic obstacle in the preset range, traversing the direction of the dynamic obstacle and judging whether the directions are all in the perceived direction. When the dynamic barrier is in the perception area of the laser radar, a laser radar fault grade upgrading instruction is not generated; and when the dynamic barrier is not in the sensing area of the laser radar, generating a laser radar fault grade upgrading instruction.
In the embodiment, the vehicle running environment and the laser radar sensing fault are combined, whether the obstacle possibly threatens the safety of the vehicle exists in the vehicle running environment is judged, the obstacle is divided into a static obstacle and a dynamic obstacle, and the safety and the reliability of automatic driving of the vehicle are better ensured. The perception of the environment is increased, so that when the laser radar fails, the vehicle is smooth in safety operation, and the safety threat of actions such as sudden braking to passengers and other traffic participants is reduced.
In one embodiment, calculating the first lidar perception number and the second lidar perception number to obtain a vehicle whole area that can be perceived by the total lidar includes: the first laser radar perception number and the second laser radar perception number are expressed by binary system; and processing the first laser radar sensing number and the second laser radar sensing number through bit operation, and judging whether the sensing area of the total laser radar meets the requirement of the complete sensing area.
The bit operation is an operation for operating binary bits in a computer, AND performs logic computation on each bit of binary numbers, including operations such as bit AND (AND), bit OR (OR), bit exclusive OR (XOR), bit inversion (NOT), AND the like.
Specifically, referring to fig. 4, fig. 4 is a schematic view of dividing the vehicle whole area. And numbering the sensing area of the laser radar through binary system according to the sensing area of the laser radar. Wherein, the sensing area of lidar_1 is "10000111", the sensing area of lidar_2 is "11110000", the sensing area of lidar_3 is "10000000", the sensing area of lidar_4 is "00001100", and the sensing area of lidar_5 is "00011000". The process of obtaining the complete sensing area of the vehicle configured by the laser radar through bit operation is as follows:
lidar_1：10000111
lidar_2：11110000
lidar_3：10000000
lidar_4：00001100
lidar_5：00011000
Result：11111111
In this embodiment, the sensing regions of each lidar are numbered by binary encoding, so that complex sensing data can be simplified and identified. The coding mode is easy to understand and process, and facilitates subsequent data analysis and processing. By using bit operation, the sensing areas of different lidars can be combined to obtain the complete sensing area of the vehicle, so that the overall sensing area containing all the lidar sensing areas is obtained. To facilitate improved environmental understanding and decision making capabilities in an autonomous vehicle or other related application.
In one embodiment, the lidar fault assessment method further comprises: respectively configuring a laser radar perception number for the first laser radar and the second laser radar; and simulating a laser radar fault scene by configuring parameters in the laser radar perception number.
Specifically, the sensing areas of the first laser radar and the second laser radar are set through data input, and corresponding parameters are configured, namely sensing faults occur in the sensing areas corresponding to the laser radars, and the sensing data missing areas of the first laser radar and the sensing data missing areas of the second laser radar are obtained. At this time, only the laser radar sensing number needs to be correspondingly set, so that a laser radar fault scene can be simulated, the vehicle body environment is simulated under the scene, and the feasibility of the test and verification function is tested.
In this embodiment, by setting a fault injection mechanism for the laser radar, parameter configuration is performed on the laser radar sensing area to simulate the laser radar fault, so that complicated operations of disconnecting the laser radar harness can be avoided, and the scene of the laser radar fault can be simulated only by parameter modification. The verification efficiency of the system and the accuracy of the result are improved.
In one embodiment, as shown in fig. 6, the lidar fault assessment method includes:
step 602, dividing the vehicle whole area and numbering the vehicle whole area.
Step 604, matching the sensing area of the first laser radar with the vehicle whole area to obtain a first laser radar sensing number, and matching the sensing area of the second laser radar with the vehicle whole area to obtain a second laser radar sensing number; the laser radar sensing number is the number of the whole area of the vehicle which can be sensed by the laser radar.
Step 606, the first lidar perception number and the second lidar perception number are represented in binary.
Step 608, processing the first lidar sensing number and the second lidar sensing number through bit operation, and judging whether the sensing area of the total lidar meets the requirement of the complete sensing area.
Step 610, configuring a laser radar perception number for the first laser radar and the second laser radar respectively.
Step 612, simulating a laser radar fault scene by configuring parameters in the laser radar perception number.
Step 614, obtain the sensing data missing duration and sensing data missing area of the lidar.
Step 616, entering a fault processing branch according to the perceived data missing duration, and setting different laser radar fault levels in different fault processing branches.
Step 618, obtaining a fault blind area and a vehicle running state; the fault blind area is a vehicle whole area which can not be perceived by the total laser radar for all the laser radars in any vehicle whole area; the vehicle running states include a stationary state and a running state.
Step 620, under the condition that the vehicle is in a stationary state, the laser radar fault level is not upgraded; and judging whether a fault blind area exists or not under the condition that the vehicle is in a running state.
Step 622, upgrading the laser radar fault level when the vehicle running direction is coincident with the fault blind zone.
Step 624, when the running direction of the vehicle is not coincident with the fault blind area, the laser radar fault level is not upgraded.
Step 626, obtain the valid sensing result of the last frame of the fault blind area, and judge the obstacle state in the preset range. The obstacle states include no obstacle, stationary obstacle, and dynamic obstacle.
Step 628, when there is no obstacle or a static obstacle within the preset range, the laser radar fault level is not upgraded.
Step 630, when dynamic obstacles exist in the preset range, judging whether the dynamic obstacles are all in the laser radar sensing area.
Step 632, when in the lidar sensing region, the lidar fault level is not upgraded; and when the laser radar is not in the laser radar sensing area, the laser radar fault level is upgraded.
Step 634, obtaining the laser radar fault level according to the laser radar fault level upgrading instruction.
In the embodiment, when the laser radar has a perception fault, different fault processing branches are set according to the perception data missing time length of the laser radar, and different laser radar fault grades are set in the different fault processing branches; generating a laser radar fault grade upgrading instruction through a perception data missing area of the laser radar, and inputting the laser radar fault grade upgrading instruction into a corresponding fault processing branch to obtain the laser radar fault grade. Through setting up different fault handling branches, can classify according to the perception data lack duration to take the pointedly measure, avoid producing unnecessary interruption or redundant operation to entire system, through accurate fault handling branch setting, can improve the efficiency and the reliability of system. Aiming at environment perception, and correspondingly providing a fault level upgrading instruction, the defect of focusing on a laser radar is overcome, more intelligent and reasonable braking can be issued through perception of the vehicle body environment, the driving safety and smoothness are improved, meanwhile, the fault of a self-vehicle system can be coordinated, and the safety risk is reduced. The method can rapidly and accurately locate and solve the fault problem of the laser radar, reduce the fault removal time and cost, reduce the downtime of the system and improve the stability and usability of the system.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are shown in order, these steps are not necessarily performed in the order indicated. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a laser radar fault evaluation device for realizing the laser radar fault evaluation method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the laser radar fault assessment device or devices provided below may be referred to the limitation of the laser radar fault assessment method hereinabove, and will not be described herein.
In one embodiment, as shown in fig. 7, there is provided a laser radar fault assessment apparatus, including: a data acquisition module 702, a branching module 704, a judgment module 706, and a decision module 708, wherein:
the data acquisition module 702 is configured to acquire a sensing data missing duration and a sensing data missing region of the lidar.
And a branching module 704, configured to enter a fault processing branch according to the perceived data missing duration, and set different laser radar fault levels in different fault processing branches.
And the judging module 706 is configured to generate a laser radar fault level upgrading instruction according to the sensing data missing area and the vehicle running state.
The decision module 708 is configured to obtain a laser radar fault level according to the laser radar fault level upgrading instruction.
In one embodiment, the data acquisition module 702 further comprises:
the dividing module is used for dividing the vehicle whole area and numbering the vehicle whole area.
The matching module is used for matching the sensing area of the first laser radar with the vehicle whole area to obtain a first laser radar sensing number, and matching the sensing area of the second laser radar with the vehicle whole area to obtain a second laser radar sensing number; the laser radar sensing number is the number of the whole area of the vehicle which can be sensed by the laser radar.
The operation module is used for operating the first laser radar sensing number and the second laser radar sensing number to obtain the vehicle whole area number which can be sensed by the total laser radar; the total lidar includes a first lidar and a second lidar.
In one embodiment, the operation module further includes:
and the numbering module is used for representing the first laser radar sensing number and the second laser radar sensing number by binary system.
And the bit operation module is used for processing the first laser radar sensing number and the second laser radar sensing number through bit operation and judging whether the sensing area of the total laser radar meets the requirement of the complete sensing area.
In one embodiment, the determining module 706 further includes:
the acquisition module is used for acquiring a fault blind area and a vehicle running state; the fault blind area is a vehicle whole area which can not be perceived by the total laser radar for all the laser radars in any vehicle whole area; the vehicle running states include a stationary state and a running state.
The analysis module is used for not upgrading the fault level of the laser radar under the condition that the vehicle is in a static state; and judging whether a fault blind area exists or not under the condition that the vehicle is in a running state.
And the first upgrading module is used for upgrading the fault level of the laser radar when the running direction of the vehicle is coincident with the fault blind area.
And the second upgrading module is used for not upgrading the laser radar fault level when the running direction of the vehicle is not coincident with the fault blind area.
In one embodiment, the second upgrade module further comprises:
the obstacle sensing module is used for acquiring an effective sensing result of a frame on the fault blind area and judging the obstacle state in a preset range; the obstacle states include no obstacle, stationary obstacle, and dynamic obstacle.
And the static sensing module is used for not upgrading the fault level of the laser radar when no obstacle exists in a preset range or a static obstacle exists.
And the dynamic sensing module is used for judging whether the dynamic obstacles are all in the laser radar sensing area when the dynamic obstacles exist in the preset range.
The upgrading judging module is used for not upgrading the fault level of the laser radar when the laser radar is in the laser radar sensing area; and when the laser radar is not in the laser radar sensing area, the laser radar fault level is upgraded.
In one embodiment, the lidar fault evaluation device further comprises:
the number configuration module is used for respectively configuring the laser radar perception numbers for the first laser radar and the second laser radar.
The simulation module is used for simulating a laser radar fault scene by configuring parameters in the laser radar perception number.
The above-described respective modules in the lidar fault evaluation device may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 8. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by a processor implements a lidar failure and fault assessment method.
It will be appreciated by those skilled in the art that the structure shown in fig. 8 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to comply with the related laws and regulations and standards of the related countries and regions.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method for lidar fault assessment, the method comprising:
acquiring the perception data missing time length and the perception data missing area of the laser radar;
entering a fault processing branch according to the perceived data missing duration, and setting different laser radar fault grades in different fault processing branches;
generating a laser radar fault level upgrading instruction according to the perception data missing area and the vehicle running state;
And obtaining the laser radar fault grade according to the laser radar fault grade upgrading instruction.
2. The method according to claim 1, wherein the method further comprises:
dividing a vehicle whole area, and numbering the vehicle whole area;
matching a sensing area of the first laser radar with the vehicle whole area to obtain a first laser radar sensing number, and matching a sensing area of the second laser radar with the vehicle whole area to obtain a second laser radar sensing number; the laser radar sensing number is the number of the vehicle whole area which can be sensed by the laser radar;
calculating the first laser radar sensing number and the second laser radar sensing number to obtain the vehicle whole area number which can be sensed by the total laser radar; the total lidar includes a first lidar and a second lidar.
3. The method of claim 1, wherein generating a lidar fault level upgrade instruction based on the perceived data loss region and a vehicle operating state comprises:
acquiring a fault blind area and a vehicle running state; the fault blind area is a vehicle whole area which can not be perceived by the total laser radar for all the laser radars in any vehicle whole area; the vehicle running state includes a stationary state and a running state;
Under the condition that the vehicle is in a stationary state, the laser radar fault level is not upgraded; judging whether a fault blind area exists or not under the condition that the vehicle is in a running state;
when the running direction of the vehicle is coincident with the fault blind area, the fault level of the laser radar is upgraded;
when the running direction of the vehicle is not coincident with the fault blind area, the laser radar fault level is not upgraded.
4. A method according to claim 3, wherein, when the traveling direction of the vehicle does not coincide with the fault blind area, after the laser radar fault level is not upgraded, comprising:
obtaining an effective sensing result of a frame on a fault blind area, and judging the obstacle state in a preset range; the obstacle states include no obstacle, stationary obstacle, and dynamic obstacle;
when no obstacle exists in a preset range or a static obstacle exists, the fault level of the laser radar is not upgraded;
judging whether the dynamic obstacles are in a laser radar sensing area or not when the dynamic obstacles exist in a preset range;
when the laser radar sensing area is located, the laser radar fault level is not upgraded; and when the laser radar is not in the laser radar sensing area, the laser radar fault level is upgraded.
5. The method of claim 2, wherein the calculating the first lidar perception number and the second lidar perception number to obtain the vehicle whole area that can be perceived by a total lidar comprises:
The first laser radar perception number and the second laser radar perception number are represented by binary system;
and processing the first laser radar sensing number and the second laser radar sensing number through bit operation, and judging whether the sensing area of the total laser radar meets the requirement of the complete sensing area.
6. The method according to claim 1, wherein the method further comprises:
respectively configuring a laser radar perception number for the first laser radar and the second laser radar;
and simulating a laser radar fault scene by configuring parameters in the laser radar perception number.
7. A lidar fault evaluation device, the device comprising:
the data acquisition module is used for acquiring the perception data missing time length and the perception data missing area of the laser radar;
the branch module is used for entering a fault processing branch according to the perceived data missing time length, and setting different laser radar fault grades in different fault processing branches;
the judging module is used for generating a laser radar fault grade upgrading instruction according to the perception data missing area and the vehicle running state;
and the decision module is used for obtaining the laser radar fault grade according to the laser radar fault grade upgrading instruction.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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