Laser obstruction rate determination method, device and storage medium

Abstract

Embodiments of the present application provide a laser obstruction rate determination method, device, and storage medium. In some exemplary embodiments of the present application, the laser obstruction rate determination device automatically selects installation test parameters to perform a laser obstruction rate test. For a set of installation test parameters, the laser radar's laser beam coordinates are determined based on the installation test parameters, a preset driving speed, and a transmission time interval. Based on the laser beam coordinates and a preset target plane expression of the object, the actual intersection point and obstruction point of the laser radar on the target plane of the object when the object is traveling at the preset driving speed are determined. After the test of the set of installation test parameters is terminated, the laser obstruction rate corresponding to the installation test parameters is determined. The laser obstruction conditions under different installation test parameters are automatically obtained, thereby improving the testing efficiency of the laser obstruction conditions and thereby improving the installation efficiency of the laser radar.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device and storage medium for determining a laser obstruction rate. Background Art

[0002] In high-precision map acquisition or intelligent driving scenarios, vehicles (smart cars or collection vehicles) need to be integrated with LiDAR. Taking HD map acquisition as an example, the LiDAR's installation position and angle on the collection vehicle will affect the quality of the laser point cloud (hereinafter referred to as the point cloud) collected by the LiDAR. If the installation position and angle are not appropriate, the LiDAR's laser beam will be easily blocked by the collection vehicle body or surrounding vehicles, making it impossible to collect the point cloud of the corresponding area.

[0003] To solve this problem, the existing technology generally performs test collection by repeatedly changing the installation position and angle of the laser radar. The occlusion situation of the point cloud is determined by the laser point cloud collected through the test, and then the installation position and angle of the laser radar are determined based on the occlusion situation. On the one hand, this method requires repeated disassembly and assembly of the laser radar to adjust the installation position and angle of the laser radar, which is time-consuming and labor-intensive. On the other hand, it also requires manual determination of the occlusion situation of the point cloud, resulting in low installation efficiency of the laser radar. Summary of the Invention

[0004] Multiple aspects of the present application provide a method, device, and storage medium for determining a laser obstruction rate to improve the testing efficiency of laser obstruction conditions.

[0005] The present invention provides a method for determining a laser obstruction rate, including:

[0006] Randomly obtain a set of installation test parameters of the laser radar within the preset installation parameter range of the laser radar;

[0007] Determining the laser beam coordinates of the laser radar based on the installation test parameters, a preset driving speed of the laser radar, and a transmission time interval;

[0008] determining, based on the laser beam coordinates and a preset target plane representation of the object, actual intersection points and occlusion points of the laser radar on the target plane of the object while the object is traveling at a preset speed;

[0009] Determine whether a test stop condition of the installation test parameter is met, and if so, determine a laser obstruction rate corresponding to the installation test parameter based on the actual intersection point and the obstruction point.

[0010] An embodiment of the present application further provides a device for determining a laser obstruction rate, comprising: a memory and a processor;

[0011] The memory is used to store one or more computer instructions;

[0012] The processor is configured to execute the one or more computer instructions to:

[0013] Randomly obtain a set of installation test parameters of the laser radar within the preset installation parameter range of the laser radar;

[0014] Determining the laser beam coordinates of the laser radar based on the installation test parameters, a preset driving speed of the laser radar, and a transmission time interval;

[0015] determining, based on the laser beam coordinates and a preset target plane representation of the object, actual intersection points and occlusion points of the laser radar on the target plane of the object while the object is traveling at a preset speed;

[0016] Determine whether a test stop condition of the installation test parameter is met, and if so, determine a laser obstruction rate corresponding to the installation test parameter based on the actual intersection point and the obstruction point.

[0017] An embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by one or more processors, the computer program causes the one or more processors to perform the following actions:

[0018] Randomly obtain a set of installation test parameters of the laser radar within the preset installation parameter range of the laser radar;

[0019] Determining the laser beam coordinates of the laser radar based on the installation test parameters, a preset driving speed of the laser radar, and a transmission time interval;

[0020] determining, based on the laser beam coordinates and a preset target plane representation of the object, actual intersection points and occlusion points of the laser radar on the target plane of the object while the object is traveling at a preset speed;

[0021] Determine whether a test stop condition of the installation test parameter is met, and if so, determine a laser obstruction rate corresponding to the installation test parameter based on the actual intersection point and the obstruction point.

[0022] In some exemplary embodiments of the present application, the laser obstruction rate determination device automatically selects installation test parameters to test the laser obstruction rate. For a set of installation test parameters, the laser beam coordinates of the laser radar are determined based on the installation test parameters, the preset driving speed and emission time interval of the laser radar. Based on the laser beam coordinates and the preset target plane expression of the object, the actual intersection and obstruction points of the laser radar on the target plane of the object are determined when the object is traveling at a preset driving speed. After the test of this set of installation test parameters is stopped, the laser obstruction rate corresponding to the installation test parameters is determined, and the laser obstruction conditions under different installation test parameters are automatically obtained, thereby improving the testing efficiency of the laser obstruction conditions and thereby improving the installation efficiency of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0024] Figure 1a A schematic structural diagram of a laser obscuration rate determination device provided in an exemplary embodiment of the present application;

[0025] Figure 1b A schematic structural diagram of a laser obscuration rate determination system provided by an exemplary embodiment of the present application;

[0026] Figure 2 A flowchart of a method for determining a laser obstruction rate provided by an exemplary embodiment of the present application;

[0027] Figure 3 A flowchart of another method for determining a laser obstruction rate provided by an exemplary embodiment of the present application;

[0028] Figure 4 A schematic flow chart of a laser position adjustment method provided in an exemplary embodiment of the present application;

[0029] Figure 5 A schematic flow chart of another laser position adjustment method provided by an exemplary embodiment of the present application;

[0030] Figure 6 A schematic structural diagram of a laser obscuration rate determination device provided in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0031] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0032] Currently, in high-precision map collection or intelligent driving scenarios, the LiDAR installed on the vehicle is required to collect information about the surrounding environment. If the LiDAR is not installed at the right position and angle, the laser beam from the LiDAR can be easily blocked by the vehicle or surrounding vehicles, preventing the collection of point clouds in the corresponding area. Currently, the laser point cloud is collected by manually changing the LiDAR's installation position and angle to determine the obstruction of the point cloud. The installation position and angle of the LiDAR are then selected based on the obstruction of the point cloud. This method is time-consuming and labor-intensive, resulting in low LiDAR installation efficiency.

[0033] In response to the above-mentioned technical problems, in some exemplary embodiments of the present application, the laser obstruction rate determination device automatically selects installation test parameters to test the laser obstruction rate. For a set of installation test parameters, the laser beam coordinates of the laser radar are determined based on the installation test parameters, the preset driving speed of the laser radar and the emission time interval. Based on the laser beam coordinates and the preset target plane expression of the object, the actual intersection and obstruction points of the laser radar on the target plane of the object are determined when the object is traveling at a preset driving speed. After the test of this set of installation test parameters is stopped, the laser obstruction rate corresponding to the installation test parameters is determined, and the laser obstruction conditions under different installation test parameters are automatically obtained, thereby improving the testing efficiency of the laser obstruction conditions and thereby improving the installation efficiency of the laser radar.

[0034] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0035] Figure 1a This is a schematic diagram of a laser obstruction rate determination device 10a provided in an exemplary embodiment of the present application, which is used to simulate a self-moving device to be installed with a laser radar and other self-moving devices traveling around the self-moving device.

[0036] In this embodiment, the laser obstruction ratio determination device 10a pre-creates a simulated virtual space, generates different installation test parameters for the laser radar on a mobile device, and simulates the movement of the mobile device within the virtual space. The device then obtains the laser obstruction ratios of the laser radar installed on the mobile device at a target plane of a predetermined object under each of the various installation test parameters. Based on the obtained laser obstruction ratios corresponding to the various installation test parameters, the laser obstruction ratio determination device 10a selects target installation test parameters from the various installation test parameters as the actual installation parameters for the laser radar on the mobile device. In this embodiment, the laser obstruction ratio determination device 10a can be implemented in various forms, including a server or other computer device. When the laser obstruction ratio determination device 10a is a server, for example, the server can be a conventional server, a cloud server, a cloud host, a virtual center, or other server device. The server device primarily comprises a processor, a hard drive, memory, a system bus, and other components, using a common computer architecture. The server can include a single website server or multiple website servers. When the laser obstruction rate determination device 10a is another laser obstruction rate determination device, for example, it can be a laser obstruction rate determination device such as a mobile phone, a personal computer, a tablet computer, a wearable device, etc.

[0037] In the above embodiment, the laser radar may be a single-line laser radar, a multi-line laser radar or a planar solid-state laser radar.

[0038] In this embodiment, the self-mobile device receives the target installation test parameters sent by the laser obstruction rate determination device 10a and adjusts the position of the laser radar installed on the self-mobile device based on the target installation test parameters. In this embodiment, the self-mobile device can be implemented in various forms, such as unmanned vehicles, collection vehicles, drones, and various service robots.

[0039] In the above and following embodiments, the actual installation parameters of the laser radar on the self-moving device refer to the installation position and angle of the positioning laser radar on the self-moving device. The installation parameters include but are not limited to the following: installation height height, lateral offset offset, rotation angle r around the X axis and rotation angle p around the Y axis. The laser obstruction rate corresponding to the installation test parameters reflects the proportion of laser rays emitted by the laser radar that are blocked on the target plane. This embodiment calculates the laser obstruction rate of the laser radar installed on the self-moving device on the corresponding target plane under the installation test parameters by collecting the actual intersection points and obstruction points of the laser radar on the target plane of the object on the self-moving device; for example, for the first installation test parameter, the total number of actual intersection points collected by the laser radar on the self-moving device on the target plane corresponding to the ground is 50, and the total number of obstruction points is 10, then the laser obstruction rate of the first installation test parameter is 10 / (50+10)=16.7%.

[0040] It should be noted that throughout the test process, the laser obstruction ratio determination device 10a automatically measures the laser obstruction ratio for various installation test parameters. During each laser obstruction ratio test for each installation test parameter, multiple acquisitions are made of the actual intersection and obstruction points on the target plane of the object. In the following embodiments, "test stop" indicates that the test for a particular installation test parameter has been completed; "test end" indicates that the test for all installation test parameters has been completed. Obviously, the movement speed of the laser radar is equal to the speed of the self-moving device.

[0041] In this embodiment, the laser obstruction rate determination device 10a obtains a set of installation test parameters of the laser radar within a preset installation parameter range of the laser radar; determines the laser beam coordinates of the laser radar based on the installation test parameters, the preset driving speed of the laser radar, and the emission time interval; determines the actual intersection and obstruction points of the laser radar on the target plane of the object when the object is traveling at the preset driving speed based on the laser beam coordinates and the preset target plane expression of the object; determines whether the test stop condition of the installation test parameters is met, and if so, determines the laser obstruction rate of the laser radar installed on the self-moving device in the corresponding target plane under the installation test parameters based on the actual intersection and obstruction points. The embodiment of the present application automatically obtains the laser obstruction conditions under different installation test parameters, improves the testing efficiency of the laser obstruction conditions, and thus improves the installation efficiency of the laser radar.

[0042] Before the entire testing process begins, the laser obstruction rate determination device 10a pre-builds a simulated virtual space for testing. One possible implementation involves establishing plane equations for all virtual objects that comprise the simulated virtual space, as well as the boundary equations for the simulated virtual space, in a three-dimensional coordinate system. The simulated virtual space is constructed using the plane equations of the virtual objects, their vertices, and the boundary equations of the simulated virtual space. For example, if the plane equation is Ax+By+Cz+D=0, for the first virtual object, the first virtual object consists of five planes: plane A, plane B, plane C, plane D, and plane E. The plane equations of five planes are established in sequence. The plane equation of plane A is: A1x+B1y+C1z+D1=0, the plane equation of plane B is: A2x+B2y+C2z+D2=0, the plane equation of plane C is: A3x+B3y+C3z+D3=0, and the plane equation of plane D is: A4x+B4y+C4z+D4=0. Therefore, the plane equations of the first virtual object are: A1x+B1y+C1z+D1=0, A2x+B2y+C2z+D2=0, A3x+B3y+C3z+D3=0 and A4x+B4y+C4z+D4=0; the plane equations of all virtual objects are constructed in sequence, and the plane equations of all virtual objects, the vertices and the boundary equations of the simulated virtual space are constructed to form a simulated virtual space.

[0043] After starting the test process, the laser obstruction rate determination device 10a first obtains a set of installation test parameters of the laser radar within the preset installation parameter range of the laser radar. The methods for obtaining a set of installation test parameters of the laser radar include but are not limited to the following parameter acquisition methods:

[0044] Parameter acquisition method 1: Select a sub-parameter value from the parameter range of each sub-parameter in the installation parameters, and use the selected sub-parameter values as a set of installation test parameters for the lidar. For example, the parameter range of each sub-parameter of the installation parameters is: installation height range [1.3 meters, 1.4 meters], lateral offset [-0.3 meters, 0.3 meters], rotation angle around the X axis [-180 degrees, 180 degrees], and rotation angle around the Y axis [-180 degrees, 180 degrees]. Selecting a sub-parameter value from the parameter range of each sub-parameter results in a set of installation test parameters: installation height 1.4 meters, lateral offset 0.2 meters, rotation angle around the X axis 5 degrees, and rotation angle around the Y axis -3 degrees.

[0045] Method 2 for parameter acquisition: Select one set of installation test parameters from multiple preset sets of installation test parameters. Assume there are only three sets of installation test parameters: the first set includes an installation height of 1.35 meters, a lateral offset of 0.2 meters, a rotation angle of 3 degrees around the X axis, and a rotation angle of -5 degrees around the Y axis; the second set includes an installation height of 1.37 meters, a lateral offset of 0.15 meters, a rotation angle of 2 degrees around the X axis, and a rotation angle of -5 degrees around the Y axis; and the third set includes an installation height of 1.38 meters, a lateral offset of 0.17 meters, a rotation angle of 4 degrees around the X axis, and a rotation angle of 3 degrees around the Y axis. Select one of the three sets of installation test parameters as the installation test parameters.

[0046] Among them, in the above two parameter acquisition methods, the embodiment of the present application does not limit the order of parameter acquisition. The installation test parameters can be obtained randomly or in accordance with preset rules.

[0047] After obtaining a set of installation test parameters, the laser obstruction rate determination device 10a determines the laser beam coordinates of the laser radar based on the installation test parameters, the preset driving speed and emission time interval of the laser radar; the laser obstruction rate determination device 10a determines the actual intersection and obstruction points of the laser radar on the target plane of the object when the object is traveling at a preset driving speed based on the laser beam coordinates and the preset target plane expression of the object.

[0048] In the above embodiment, after multiple tests of the installation test parameters, it is determined whether the test termination conditions for the installation test parameters are met. One possible implementation is to determine whether the laser radar has traveled a preset distance at a preset speed. If so, the test process for the installation test parameters is terminated. Another possible implementation is to determine whether the laser radar has traveled at a preset speed for a preset duration. If so, the test process for the installation test parameters is terminated. Before the test for a set of installation test parameters is terminated, n tests can be performed, wherein the laser radar transmits a total of n times in each of the n tests.

[0049] In the above embodiment, during a test of the installation test parameters, the laser radar transmits a total of n times. The laser radar laser beam coordinates are determined based on the installation test parameters, the preset driving speed of the laser radar, and the transmission time interval. One implementation method is to determine the laser beam coordinates generated by each laser radar transmission from the first to the nth time based on the installation test parameters, the preset driving speed of the laser radar, and the transmission time interval. The laser beam coordinates are calculated using the laser beam coordinate calculation formula.

[0050] The following describes the derivation process of the laser beam coordinate calculation formula:

[0051] In the three-dimensional coordinate system, the X-axis is the right-hand direction of the mobile device, the Y-axis is the moving direction of the mobile device, and the Z-axis is the upward direction. The original laser radar beam coordinate formula is

[0052]

[0053] Where α is the angle between the laser beam and the Y axis, and ω is the angle between the laser beam and the rotation plane.

[0054] When the laser radar is installed, it will rotate around the X-axis and Y-axis. According to the rotation angle r of the laser radar around the X-axis and the rotation angle p of the laser radar around the Y-axis, the original laser radar beam coordinates are corrected once. The formula for the corrected laser radar beam coordinates is:

[0055]

[0056] When the laser radar is installed, it is installed on the top of the mobile device. There is an installation height and a lateral offset. Therefore, the laser radar beam coordinates after the primary correction are added with the above offset. According to the installation height and lateral offset, the corrected laser radar beam coordinates are corrected twice to obtain the laser radar beam coordinate formula.

[0057]

[0058] Furthermore, the laser emission interval is δt, which is multiplied by the vehicle's speed to obtain the laser's offset distance in the vehicle's travel direction Y. At the same time, the beam rotates an angle △ in the rotation plane. After the movement and rotation, the laser radar beam coordinate formula is:

[0059]

[0060] Therefore, for n laser emissions, based on the installation test parameters, the preset driving speed of the laser radar and the emission time interval, the laser beam coordinates generated by each laser radar emission from the 1st to the nth time can be determined by the above laser radar beam coordinate formula.

[0061] In the above embodiment, based on the laser beam coordinates and a preset target plane expression of the object, the actual intersection points and obstruction points of the laser radar on the target plane of the object are determined while the object is traveling at a preset speed. One possible implementation method is to obtain the laser radar beam radius of the intersection points of the laser beams generated by each laser radar transmission from the first to the nth time on the target plane based on the laser beam coordinates generated by each laser radar transmission from the first to the nth time and the preset target plane expression; obtain the coordinate values of the intersection points of the laser radar beams on the target plane of the object based on the laser radar beam radius of the intersection points and the laser beam coordinates of the laser radar; determine the intersection point with the smallest laser radar beam radius on the target plane generated by the laser beam of each laser radar transmission on the target plane as the actual intersection point, and determine the remaining intersection points as obstruction points. It should be noted that, in theory, the laser beam may intersect with multiple planes, but in practice, the intersection point with the smallest laser radar beam radius is the actual intersection point, and the remaining intersection points are points obstructed by the plane where the actual intersection point is located. For the target plane, if the intersection point where the laser beam generates the smallest radius of the laser radar beam on the target plane is the actual intersection point, if the intersection point where the laser beam generates the smallest radius of the laser radar beam on the target plane is not the intersection point, it is regarded as the blocking point.

[0062] In the above and following embodiments, the pre-set object refers to a simulated object in the simulated virtual space. This can be a simulated vehicle traveling around a mobile device, or a simulated building or ground in the simulated virtual space. For three-dimensional simulated objects such as simulated buildings and vehicles, multiple planes are required for representation. In this case, the target plane of the three-dimensional simulated object refers to any one of the multiple planes. For simulated ground, only a single plane is required for representation. In this case, the target plane of the simulated object is that single plane.

[0063] For example, the plane equations of the virtual objects are: A1x+B1y+C1z+D1=0, A2x+B2y+C2z+D2=0, A3x+B3y+C3z+D3=0 and A4x+B4y+C4z+D4=0, and the plane equation of the ground is: A5x+B5y+C5z+D5=0. In a laser emission, the laser radar beam coordinates are substituted into A5x+B5y+C5z+D5=0, A1x+B1y+C1z+D1=0, A2x+B2y+C2z+D2=0, A3x+B3y+C3z+D3=0 and A4x+B4y+C4z+D4=0 to obtain the laser radar beam radius of each intersection point. The target intersection point corresponding to the smallest laser radar beam radius is the actual intersection point of the plane corresponding to the laser radar beam and the target intersection point. If the plane corresponding to the target intersection point is the ground, the intersection point of the laser radar beam and other planes is the intersection point blocked by the ground.

[0064] After the n tests of the installation test parameters are terminated, the laser obstruction rate determination device 10a counts the total number of actual intersection points and the total number of obstruction points on the target plane of the object during all tests of the installation test parameters; based on the total number of actual intersection points and the total number of obstruction points on the target plane, the laser obstruction rate of the laser radar installed on the self-moving device at the corresponding target plane under the installation test parameters is determined. One achievable method is to count the total number of actual intersection points and the total number of obstruction points on the target plane of the object during the n tests of the installation test parameters, and use the ratio of the total number of obstruction points on the target plane of the object to the sum of the total number of actual intersection points and the total number of obstruction points on the target plane of the object as the laser obstruction rate of the laser radar installed on the self-moving device at the corresponding target plane under the installation test parameters. For example, three tests are performed on the installation test parameters: in the first test, the number of actual intersection points is 1, and the number of occlusion points is 0; in the second test, the number of actual intersection points is 1, and the number of occlusion points is 0; in the third test, the number of actual intersection points is 0, and the number of occlusion points is 1; then the total number of actual intersection points on the target plane of the object is 1+1+0=2, and the total number of occlusion points on the target plane of the object is 0+0+1=1, then the ratio of the total number of occlusion points on the target plane of the object to the sum of the total number of actual intersection points and the total number of occlusion points on the target plane of the object is 1 / (1+2)=33.3%.

[0065] Next, the laser obstruction rate determination device 10a tests the next set of installation test parameters. After testing multiple sets of installation test parameters, the laser obstruction rate determination device 10a determines whether the preset test end conditions are met. If not, a new set of untested installation test parameters are randomly obtained from the preset laser radar installation parameter range for testing; if so, the entire test process is ended.

[0066] After the entire test process is complete, the laser obstruction ratio determination device 10a selects a target installation test parameter from all the installation test parameters based on the laser obstruction ratio of the laser radar installed on the mobile device at the corresponding target plane under all the obtained installation test parameters, and uses the target installation test parameter as the actual installation parameter of the laser radar. One possible implementation is for the laser obstruction ratio determination device 10a to select the installation test parameter corresponding to the minimum laser obstruction ratio as the target installation test parameter, and use the target installation test parameter as the actual installation parameter of the laser radar.

[0067] After obtaining the target installation test parameters, the laser obstruction rate determination device 10a adjusts the actual installation position of the laser radar on the mobile device according to the target installation test parameters. This includes but is not limited to the following implementations:

[0068] Method 1: The laser obstruction rate determination device 10a sends the target installation test parameters to the self-mobile device. After the self-mobile device receives the target installation test parameters, it automatically adjusts the installation position of the laser radar.

[0069] Method 2: The laser obstruction rate determination device 10a sends the target installation test parameters to the self-mobile device. After the self-mobile device receives the target installation test parameters, the target installation test parameters are displayed on the electronic display screen of the self-mobile device for the user to view, so that the user can adjust the installation position of the laser radar on the self-mobile device.

[0070] Figure 1b FIG. 2 is a schematic diagram of a laser obstruction rate determination system 20 provided in an exemplary embodiment of the present application. Figure 1b As shown, the laser obstruction rate determination system 20 includes a laser obstruction rate determination device 20a and a collection vehicle 20b. The laser obstruction rate determination device 20a and the collection vehicle 20b are in communication connection.

[0071] In this embodiment, first, the laser obstruction rate determination device 20a uses a variety of existing laser radar installation test parameters on the self-moving device to simulate the movement process of the self-moving device in the simulated virtual space, and obtains the laser obstruction rate under a variety of installation test parameters, wherein each installation test parameter can locate the installation position and angle of the laser radar on the self-moving device; then, the laser obstruction rate determination device 20a selects the target installation test parameter from all the installation test parameters based on the laser obstruction rate corresponding to all the obtained installation test parameters, as the actual installation parameter of the laser radar; finally, the laser obstruction rate determination device 20a sends the target installation test parameter to the collection vehicle 20b, and the collection vehicle 20b receives the target installation test parameter and adjusts the actual installation position of the laser radar on the collection vehicle 20b.

[0072] In the above-mentioned system and device embodiments of the present application, the laser obstruction rate determination device automatically selects the installation test parameters to perform the laser obstruction rate test. For a set of installation test parameters, the laser beam coordinates of the laser radar are determined based on the installation test parameters, the preset driving speed of the laser radar and the emission time interval. Based on the laser beam coordinates and the preset target plane expression of the object, the actual intersection and obstruction points of the laser radar on the target plane of the object are determined when the object is traveling at the preset driving speed. After the test of this set of installation test parameters is stopped, the laser obstruction rate of the laser radar installed on the self-moving device on the corresponding target plane under the installation test parameters is determined, and the laser obstruction conditions under different installation test parameters are automatically obtained, thereby improving the test efficiency of the laser obstruction conditions and thereby improving the installation efficiency of the laser radar.

[0073] Figure 2 The following is a flow chart of a method for determining a laser obstruction rate provided by an exemplary embodiment of the present application. Figure 2 As shown, the method includes:

[0074] S201: Obtaining a set of installation test parameters of the laser radar within a preset installation parameter range of the laser radar;

[0075] S202: Determine the laser beam coordinates of the laser radar based on the installation test parameters, the preset driving speed of the laser radar, and the emission time interval;

[0076] S203: Determining, based on the laser beam coordinates and a preset target plane expression of the object, actual intersection points and occlusion points on the target plane of the object, when the laser radar is traveling at a preset speed;

[0077] S204: Determine whether the test stop condition of the installation test parameters is met; if so, execute step S205; if not, execute step S201;

[0078] S205: Determine the laser obstruction rate corresponding to the installation test parameters based on the actual intersection point and the obstruction point.

[0079] In this embodiment, the laser obstruction rate determination device, which executes the above-described method, can be implemented in various forms, including a server or other computer device. When the laser obstruction rate determination device is a server, for example, the server can be a conventional server, a cloud server, a cloud host, a virtual center, or other server device. The server device primarily comprises a processor, a hard drive, memory, a system bus, and other common computer architecture types. The server can include a single website server or multiple website servers. When the laser obstruction rate determination device is another type of laser obstruction rate determination device, for example, it can be a mobile phone, a personal computer, a tablet computer, a wearable device, or other laser obstruction rate determination device.

[0080] In this embodiment, the laser occlusion rate determination device pre-constructs a simulated virtual space, generates different installation test parameters of the laser radar on the self-moving device, and simulates the movement process of the self-moving device in the simulated virtual space to obtain the laser occlusion rate of the laser radar installed on the self-moving device in the corresponding target plane under multiple installation test parameters; the laser occlusion rate determination device selects the target installation test parameter from the multiple installation test parameters based on the laser occlusion rate corresponding to the obtained multiple installation test parameters, as the actual installation parameter of the laser radar on the self-moving device.

[0081] In the above embodiment, the laser radar may be a single-line laser radar, a multi-line laser radar or a planar solid-state laser radar.

[0082] In this embodiment, the self-mobile device receives target installation test parameters sent by the laser obstruction rate determination device and adjusts the position of the laser radar installed on the self-mobile device based on the target installation test parameters. In this embodiment, the self-mobile device can be implemented in various forms, such as unmanned vehicles, collection vehicles, drones, and various service robots.

[0083] In this embodiment, the laser obstruction rate determination device constructs a simulated virtual space, and simulates the movement process of the self-moving device in the simulated virtual space for different installation test parameters of the laser radar on the self-moving device, thereby obtaining the laser obstruction rate of the laser radar installed on the self-moving device in the corresponding target plane under the various installation test parameters. This embodiment of the application does not require the use of the self-moving device to actually test the laser obstruction rate in an actual environment. Instead, the laser obstruction rate determination device is used to simulate the movement process of the self-moving device in the simulated virtual space, and obtains the laser obstruction rate of the laser radar installed on the self-moving device in the corresponding target plane under the various installation test parameters, thereby obtaining the actual installation parameters of the laser radar on the self-moving device.

[0084] In the above and following embodiments, the actual installation parameters of the laser radar on the self-moving device refer to the installation position and angle of the positioning laser radar on the self-moving device. The installation parameters include but are not limited to the following: installation height height, lateral offset offset, rotation angle r around the X axis and rotation angle p around the Y axis. The laser obstruction rate corresponding to the installation test parameters reflects the proportion of laser rays emitted by the laser radar that are blocked on the target plane. This embodiment calculates the laser obstruction rate of the laser radar installed on the self-moving device on the corresponding target plane under the installation test parameters by collecting the actual intersection points and obstruction points of the laser radar on the target plane of the object on the self-moving device; for example, for the first installation test parameter, the total number of actual intersection points collected by the laser radar on the self-moving device on the target plane corresponding to the ground is 50, and the total number of obstruction points is 10, then the laser obstruction rate of the first installation test parameter is 10 / (50+10)=16.7%.

[0085] It should be noted that during the entire test process, the laser obstruction rate determination device automatically measures the laser obstruction rates of various installation test parameters. During the laser obstruction rate test of each installation test parameter, the actual intersection points and obstruction points on the target plane of the object are collected multiple times. In the descriptions of the following embodiments, the test stop means that the test for a certain installation test parameter has been completed; the test end means that the test for all installation test parameters has been completed. Obviously, the movement speed of the laser radar is equal to the travel speed of the self-moving device.

[0086] In this embodiment, the laser obstruction rate determination device obtains a set of installation test parameters of the laser radar within a preset installation parameter range of the laser radar; determines the laser beam coordinates of the laser radar based on the installation test parameters, the preset driving speed of the laser radar, and the emission time interval; determines the actual intersection and obstruction points of the laser radar on the target plane of the object when the object is traveling at the preset driving speed based on the laser beam coordinates and the preset target plane expression of the object; determines whether the test stop condition of the installation test parameters is met, and if so, determines the laser obstruction rate of the laser radar installed on the self-moving device in the corresponding target plane under the installation test parameters based on the actual intersection and obstruction points. The embodiment of the present application automatically obtains the laser obstruction conditions under different installation test parameters, improves the test efficiency of the laser obstruction conditions, and thus improves the installation efficiency of the laser radar.

[0087] Before the entire test process begins, the laser obstruction rate determination device pre-builds a simulated virtual space for testing. One possible implementation involves establishing the plane equations of all virtual objects that comprise the simulated virtual space, as well as the boundary equations of the simulated virtual space, in a three-dimensional coordinate system. The simulated virtual space is then constructed using the plane equations of the virtual objects, their vertices, and the boundary equations of the simulated virtual space. For example, if the plane equation is Ax+By+Cz+D=0, for the first virtual object, if the first virtual object consists of five planes: plane A, plane B, plane C, plane D, and plane E. The plane equations of five planes are established in sequence. The plane equation of plane A is: A1x+B1y+C1z+D1=0, the plane equation of plane B is: A2x+B2y+C2z+D2=0, the plane equation of plane C is: A3x+B3y+C3z+D3=0, and the plane equation of plane D is: A4x+B4y+C4z+D4=0. Therefore, the plane equations of the first virtual object are: A1x+B1y+C1z+D1=0, A2x+B2y+C2z+D2=0, A3x+B3y+C3z+D3=0 and A4x+B4y+C4z+D4=0; the plane equations of all virtual objects are constructed in sequence, and the plane equations of all virtual objects, the vertices and the boundary equations of the simulated virtual space are constructed to form a simulated virtual space.

[0088] After starting the test process, the laser obstruction rate determination device first obtains a set of installation test parameters of the laser radar within the preset installation parameter range of the laser radar. The methods for obtaining a set of installation test parameters of the laser radar include but are not limited to the following parameter acquisition methods:

[0089] Parameter acquisition method 1: Select a sub-parameter value from the parameter range of each sub-parameter in the installation parameters, and use the selected sub-parameter values as a set of installation test parameters for the lidar. For example, the parameter range of each sub-parameter of the installation parameters is: installation height range [1.3 meters, 1.4 meters], lateral offset [-0.3 meters, 0.3 meters], rotation angle around the X axis [-180 degrees, 180 degrees], and rotation angle around the Y axis [-180 degrees, 180 degrees]. Selecting a sub-parameter value from the parameter range of each sub-parameter results in a set of installation test parameters: installation height 1.4 meters, lateral offset 0.2 meters, rotation angle around the X axis 5 degrees, and rotation angle around the Y axis -3 degrees.

[0090] Method 2 for parameter acquisition: Select one set of installation test parameters from multiple preset sets of installation test parameters. Assume there are only three sets of installation test parameters: the first set includes an installation height of 1.35 meters, a lateral offset of 0.2 meters, a rotation angle of 3 degrees around the X axis, and a rotation angle of -5 degrees around the Y axis; the second set includes an installation height of 1.37 meters, a lateral offset of 0.15 meters, a rotation angle of 2 degrees around the X axis, and a rotation angle of -5 degrees around the Y axis; and the third set includes an installation height of 1.38 meters, a lateral offset of 0.17 meters, a rotation angle of 4 degrees around the X axis, and a rotation angle of 3 degrees around the Y axis. Select one of the three sets of installation test parameters as the installation test parameters.

[0091] Among them, in the above two parameter acquisition methods, the embodiment of the present application does not limit the order of parameter acquisition. The installation test parameters can be obtained randomly or in accordance with preset rules.

[0092] After obtaining a set of installation test parameters, the laser obstruction rate determination device determines the laser beam coordinates of the laser radar based on the installation test parameters, the preset driving speed and emission time interval of the laser radar; the laser obstruction rate determination device determines the actual intersection and obstruction points of the laser radar on the target plane of the object when the object is traveling at a preset driving speed based on the laser beam coordinates and the preset target plane expression of the object.

[0093] In the above embodiment, after multiple tests of the installation test parameters, it is determined whether the test termination conditions for the installation test parameters are met. One possible implementation is to determine whether the laser radar has traveled a preset distance at a preset speed. If so, the test process for the installation test parameters is terminated. Another possible implementation is to determine whether the laser radar has traveled at a preset speed for a preset duration. If so, the test process for the installation test parameters is terminated. Before the test for a set of installation test parameters is terminated, n tests can be performed, wherein the laser radar transmits a total of n times in each of the n tests.

[0094] In the above embodiment, during a test of the installation test parameters, the laser radar transmits a total of n times. The laser radar laser beam coordinates are determined based on the installation test parameters, the preset driving speed of the laser radar, and the transmission time interval. One implementation method is to determine the laser beam coordinates generated by each laser radar transmission from the first to the nth time based on the installation test parameters, the preset driving speed of the laser radar, and the transmission time interval. The laser beam coordinates are calculated using the laser beam coordinate calculation formula.

[0095] The following describes the derivation process of the laser beam coordinate calculation formula:

[0096] In the three-dimensional coordinate system, the X-axis is the right-hand direction of the mobile device, the Y-axis is the moving direction of the mobile device, and the Z-axis is the upward direction. The original laser radar beam coordinate formula is

[0097]

[0098] Where α is the angle between the laser beam and the Y axis, and ω is the angle between the laser beam and the rotation plane.

[0099] When the laser radar is installed, it will rotate around the X-axis and Y-axis. According to the rotation angle r of the laser radar around the X-axis and the rotation angle p of the laser radar around the Y-axis, the original laser radar beam coordinates are corrected once. The formula for the corrected laser radar beam coordinates is:

[0100]

[0101] When the laser radar is installed, it is installed on the top of the mobile device. There is an installation height and a lateral offset. Therefore, the laser radar beam coordinates after the primary correction are added with the above offset. According to the installation height and lateral offset, the corrected laser radar beam coordinates are corrected twice to obtain the laser radar beam coordinate formula.

[0102]

[0103] Furthermore, the laser emission interval is δt, which is multiplied by the vehicle's speed to obtain the laser's offset distance in the vehicle's travel direction Y. At the same time, the beam rotates an angle △ in the rotation plane. After the movement and rotation, the laser radar beam coordinate formula is:

[0104]

[0105] Therefore, for n laser emissions, based on the installation test parameters, the preset driving speed of the laser radar and the emission time interval, the laser beam coordinates generated by each laser radar emission from the 1st to the nth time can be determined by the above laser radar beam coordinate formula.

[0106] In the above embodiment, based on the laser beam coordinates and a preset target plane expression of the object, the actual intersection points and obstruction points of the laser radar on the target plane of the object are determined while the object is traveling at a preset speed. One possible implementation method is to obtain the laser radar beam radius of the intersection points of the laser beams generated by each laser radar transmission from the first to the nth time on the target plane based on the laser beam coordinates generated by each laser radar transmission from the first to the nth time and the preset target plane expression; obtain the coordinate values of the intersection points of the laser radar beams on the target plane of the object based on the laser radar beam radius of the intersection points and the laser beam coordinates of the laser radar; determine the intersection point with the smallest laser radar beam radius on the target plane generated by the laser beam of each laser radar transmission on the target plane as the actual intersection point, and determine the remaining intersection points as obstruction points. It should be noted that, in theory, the laser beam may intersect with multiple planes, but in practice, the intersection point with the smallest laser radar beam radius is the actual intersection point, and the remaining intersection points are points obstructed by the plane where the actual intersection point is located. For the target plane, if the intersection point where the laser beam generates the smallest radius of the laser radar beam on the target plane is the actual intersection point, if the intersection point where the laser beam generates the smallest radius of the laser radar beam on the target plane is not the intersection point, it is regarded as the blocking point.

[0107] For example, the plane equations of the virtual objects are: A1x+B1y+C1z+D1=0, A2x+B2y+C2z+D2=0, A3x+B3y+C3z+D3=0 and A4x+B4y+C4z+D4=0, and the plane equation of the ground is: A5x+B5y+C5z+D5=0. In a laser emission, the laser radar beam coordinates are substituted into A5x+B5y+C5z+D5=0, A1x+B1y+C1z+D1=0, A2x+B2y+C2z+D2=0, A3x+B3y+C3z+D3=0 and A4x+B4y+C4z+D4=0 to obtain the laser radar beam radius of each intersection point. The target intersection point corresponding to the smallest laser radar beam radius is the actual intersection point of the plane corresponding to the laser radar beam and the target intersection point. If the plane corresponding to the target intersection point is the ground, the intersection point of the laser radar beam and other planes is the intersection point blocked by the ground.

[0108] After the n tests of the installation test parameters are stopped, the laser obstruction rate determination device counts the total number of actual intersection points and the total number of obstruction points on the target plane of the object during all tests of the installation test parameters; based on the total number of actual intersection points and the total number of obstruction points on the target plane, the laser obstruction rate of the laser radar installed on the self-moving device at the corresponding target plane under the installation test parameters is determined. One achievable method is to count the total number of actual intersection points and the total number of obstruction points on the target plane of the object during the n tests of the installation test parameters, and use the ratio of the total number of obstruction points on the target plane of the object to the sum of the total number of actual intersection points and the total number of obstruction points on the target plane of the object as the laser obstruction rate of the laser radar installed on the self-moving device at the corresponding target plane under the installation test parameters. For example, three tests are performed on the installation test parameters: in the first test, the number of actual intersection points is 1, and the number of occlusion points is 0; in the second test, the number of actual intersection points is 1, and the number of occlusion points is 0; in the third test, the number of actual intersection points is 0, and the number of occlusion points is 1; then the total number of actual intersection points on the target plane of the object is 1+1+0=2, and the total number of occlusion points on the target plane of the object is 0+0+1=1, then the ratio of the total number of occlusion points on the target plane of the object to the sum of the total number of actual intersection points and the total number of occlusion points on the target plane of the object is 1 / (1+2)=33.3%.

[0109] Next, the laser occlusion rate determination device tests the next set of installation test parameters. After testing multiple sets of installation test parameters, the laser occlusion rate determination device determines whether the preset test end conditions are met. If not, a new set of untested installation test parameters are randomly obtained from the preset laser radar installation parameter range for testing; if so, the entire test process ends.

[0110] After the entire test process is completed, the laser obstruction rate determination device selects a target installation test parameter from all installation test parameters based on the laser obstruction rate of the laser radar installed on the self-mobile device at the corresponding target plane under all the obtained installation test parameters, and uses the target installation test parameter as the actual installation parameter of the laser radar. One implementation method is for the laser obstruction rate determination device to select the installation test parameter corresponding to the minimum laser obstruction rate as the target installation test parameter, and use the target installation test parameter as the actual installation parameter of the laser radar.

[0111] After obtaining the target installation test parameters, the laser obstruction rate determination device adjusts the actual installation position of the laser radar on the self-moving device according to the target installation test parameters. This includes but is not limited to the following implementation methods:

[0112] Method 1: The laser obstruction rate determination device sends the target installation test parameters to the self-mobile device. After the self-mobile device receives the target installation test parameters, it automatically adjusts the installation position of the laser radar.

[0113] Method 2: The laser occlusion rate determination device sends the target installation test parameters to the self-mobile device. After the self-mobile device receives the target installation test parameters, the target installation test parameters are displayed on the electronic display screen of the self-mobile device for the user to view, so that the user can adjust the installation position of the laser radar on the self-mobile device.

[0114] Based on the description of the above embodiments, Figure 3 A flow chart of another method for determining a laser obstruction rate provided by an exemplary embodiment of the present application is shown as follows: Figure 3 As shown, the method includes:

[0115] S301: Obtaining a set of installation test parameters of the laser radar within a preset installation parameter range of the laser radar;

[0116] S302: Determine the laser beam coordinates of the laser radar based on the installation test parameters, the preset driving speed of the laser radar, and the emission time interval;

[0117] S303: Determine, based on the laser beam coordinates and a preset target plane expression of the object, actual intersection points and occlusion points on the target plane of the object when the laser radar is traveling at a preset speed;

[0118] S304: Determine whether the test stop condition of the installation test parameters is met; if so, execute step S305; if not, execute step S301;

[0119] S305: Determine the laser obstruction rate corresponding to the installation test parameters based on the actual intersection point and the obstruction point;

[0120] S306: Obtain the laser obstruction rate of all installation test parameters and end the entire test process;

[0121] S307: Based on the laser obstruction rates corresponding to all the obtained installation test parameters, select target installation test parameters from all the installation test parameters, and use the target installation test parameters as actual installation parameters of the laser radar.

[0122] In this embodiment, the implementation methods of the execution steps of this embodiment can refer to the descriptions of the aforementioned embodiments and will not be repeated in this embodiment.

[0123] Based on the description of the above embodiments, Figure 4 A schematic flow chart of a laser position adjustment method provided by an exemplary embodiment of the present application is shown in FIG. Figure 4As shown, the method includes:

[0124] S401: The laser obstruction rate determination device simulates the movement process of the self-moving device according to different installation test parameters;

[0125] S402: The laser obstruction rate determination device obtains the laser obstruction rate under different installation test parameters;

[0126] S403: The laser obstruction rate determining device selects target installation test parameters from all the installation test parameters based on the laser obstruction rates of the laser radar installed on the mobile device at the corresponding target plane under all the obtained installation test parameters, and uses the target installation test parameters as the actual installation parameters of the laser radar;

[0127] S404: The laser obstruction rate determination device sends the target installation test parameters to the mobile device;

[0128] S405: Display the target installation test parameters on the electronic display screen of the mobile device for the user to view the target installation test parameters.

[0129] In this embodiment, the implementation methods of the execution steps of this embodiment can refer to the descriptions of the various embodiments of the aforementioned laser obstruction rate determination method, and will not be repeated in this embodiment.

[0130] Based on the description of the above embodiments, Figure 5 A flow chart of another laser position adjustment method provided by an exemplary embodiment of the present application is shown as follows: Figure 5 As shown, the method includes:

[0131] S501: The laser obstruction rate determination device simulates the movement process of the self-moving device according to different installation test parameters;

[0132] S502: The laser obstruction rate determination device obtains the laser obstruction rate under different installation test parameters;

[0133] S503: The laser obstruction rate determining device selects target installation test parameters from all the installation test parameters based on the laser obstruction rates of the laser radar installed on the mobile device at the corresponding target plane under all the obtained installation test parameters, and uses the target installation test parameters as the actual installation parameters of the laser radar;

[0134] S504: The laser obstruction rate determination device sends the target installation test parameters to the mobile device;

[0135] S505: Receive target installation test parameters from the mobile device, and automatically adjust the position of the laser radar installed on the mobile device according to the target installation test parameters.

[0136] In this embodiment, the implementation methods of the execution steps of this embodiment can refer to the descriptions of the various embodiments of the aforementioned laser obstruction rate determination method, and will not be repeated in this embodiment.

[0137] It should be noted that the execution entity of each step of the method provided in the above embodiment can be the same device, or the method can be executed by different devices. For example, the execution entity of steps 401 to 403 can be device A; for another example, the execution entity of steps 401 and 402 can be device A, and the execution entity of step 403 can be device B; and so on.

[0138] In addition, in some of the processes described in the above embodiments and the accompanying drawings, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or may be executed in parallel. The sequence numbers of the operations, such as 401, 402, etc., are only used to distinguish between different operations, and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to being different types.

[0139] In the above-mentioned method embodiment of the present application, the laser obstruction rate determination device automatically selects the installation test parameters to perform the laser obstruction rate test. For a set of installation test parameters, the laser beam coordinates of the laser radar are determined based on the installation test parameters, the preset driving speed of the laser radar and the emission time interval. Based on the laser beam coordinates and the preset target plane expression of the object, the actual intersection and obstruction point of the laser radar on the target plane of the object are determined when the object is traveling at the preset driving speed. After the test of this set of installation test parameters is stopped, the laser obstruction rate corresponding to the installation test parameters is determined, and the laser obstruction conditions under different installation test parameters are automatically obtained, thereby improving the test efficiency of the laser obstruction conditions and thereby improving the installation efficiency of the laser radar.

[0140] Figure 6 This is a schematic diagram of a laser obstruction rate determination device provided by an exemplary embodiment of the present application. Figure 6 As shown, the laser obstruction rate determination device includes: a memory 601 and a processor 602. In addition, the laser obstruction rate determination device also includes necessary components such as a power supply component 603 and a communication component 604.

[0141] The memory 601 is used to store computer programs and can be configured to store various other data to support operations on the laser obscuration rate determination device. Examples of such data include instructions for any application or method used to operate on the laser obscuration rate determination device.

[0142] Memory 601 can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0143] The communication component 604 is used for data transmission with other devices.

[0144] The processor 602 can execute computer instructions stored in the memory 601 to: obtain a set of installation test parameters of the laser radar within a preset installation parameter range of the laser radar; determine the laser beam coordinates of the laser radar based on the installation test parameters, the preset driving speed of the laser radar and the emission time interval; determine the actual intersection and occlusion points of the laser radar on the target plane of the object when the object is traveling at a preset driving speed based on the laser beam coordinates and the preset target plane expression of the object; determine whether the test stop condition of the installation test parameter is met, and if so, determine the laser occlusion rate corresponding to the installation test parameter based on the actual intersection and occlusion point.

[0145] Optionally, after determining the laser obstruction rate corresponding to the installation test parameters, the processor 602 can also be used to: determine whether the preset test end conditions are met; if not, randomly obtain a set of new untested installation test parameters from the preset laser radar installation parameter range for testing; if so, end the entire test process.

[0146] Optionally, when determining whether the test stop condition for installing the test parameters is met, the processor 602 is specifically used to: determine whether the laser radar has traveled a preset distance at a preset speed, and if so, stop the test process for installing the test parameters; or determine whether the laser radar has traveled a preset time at a preset speed, and if so, stop the test process for installing the test parameters.

[0147] Optionally, during a test of the installation test parameters, the laser radar is emitted a total of n times, and the processor 602 determines the laser beam coordinates of the laser radar based on the installation test parameters, the preset driving speed of the laser radar and the emission time interval. Specifically, it is used to: determine the laser beam coordinates generated each time the laser radar is emitted from the 1st to the nth time based on the installation test parameters, the preset driving speed of the laser radar and the emission time interval.

[0148] Optionally, when the processor 602 determines the actual intersection points and occlusion points of the laser radar on the target plane of the object when the object is traveling at a preset driving speed based on the laser beam coordinates and the preset target plane expression of the object, it is specifically used to: obtain the laser radar beam radius of the intersection point of the laser beam generated each time the laser radar is emitted from the 1st to the nth time on the target plane based on the laser beam coordinates and the preset target plane expression; obtain the coordinate value of the intersection point of the laser radar beam on the target plane of the object based on the laser radar beam radius of the intersection point and the laser beam coordinates of the laser radar; determine the intersection point with the smallest laser radar beam radius generated by the laser beam emitted each time by the laser radar on the target plane as the actual intersection point, and determine the remaining intersection points as occlusion points.

[0149] Optionally, when the processor 602 determines the laser occlusion rate corresponding to the installation test parameters based on the actual intersection points and occlusion points, it is specifically used to: count the total number of actual intersection points and the total number of occlusion points on the target plane of the object during all tests of the installation test parameters; and determine the laser occlusion rate corresponding to the installation test parameters based on the total number of actual intersection points and the total number of occlusion points on the target plane.

[0150] Optionally, after the entire test process is completed, the processor 602 can also be used to: select target installation test parameters from all installation test parameters based on the laser occlusion rates corresponding to all obtained installation test parameters; and use the target installation test parameters as the actual installation parameters of the laser radar.

[0151] Optionally, after selecting the target installation test parameters, the processor 602 can also be used to: send the target installation test parameters to the mobile device, so that the mobile device can adjust the position of the laser radar installed on the mobile device according to the target installation test parameters.

[0152] Accordingly, an embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer-readable storage medium stores the computer program and the computer program is executed by one or more processors, the one or more processors execute Figure 2 Each step in the method embodiment.

[0153] above Figure 6The communication component is configured to facilitate wired or wireless communication between the device where the communication component is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G / LTE, 5G and other mobile communication networks, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0154] above Figure 6 The power supply component in a device provides power to various components of the device in which the power supply component is located. The power supply component may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device in which the power supply component is located.

[0155] In addition, the laser obstruction rate determination device may further include an electronic display screen and audio equipment.

[0156] The electronic display screen includes a screen, which may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can not only sense the boundaries of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

[0157] The audio component can be configured to output and / or input audio signals. For example, the audio component includes a microphone (MIC), and when the device where the audio component is located is in an operating mode, such as call mode, recording mode, and voice recognition mode, the microphone is configured to receive external audio signals. The received audio signal can be further stored in a memory or sent via a communication component. In some embodiments, the audio component also includes a speaker for outputting audio signals.

[0158] In the above-mentioned device embodiment of the present application, the laser obstruction rate determination device automatically selects the installation test parameters to perform the laser obstruction rate test. For a set of installation test parameters, the laser beam coordinates of the laser radar are determined based on the installation test parameters, the preset driving speed of the laser radar and the emission time interval. Based on the laser beam coordinates and the preset target plane expression of the object, the actual intersection and obstruction point of the laser radar on the target plane of the object are determined when the object is traveling at the preset driving speed. After the test of this set of installation test parameters is stopped, the laser obstruction rate corresponding to the installation test parameters is determined, and the laser obstruction situation under different installation test parameters is automatically obtained, thereby improving the test efficiency of the laser obstruction situation and thereby improving the installation efficiency of the laser radar.

[0159] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0160] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0161] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0162] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0163] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0164] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0165] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0166] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0167] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for determining laser obstruction rate, wherein: include: Obtain a set of installation test parameters of the laser radar within a preset installation parameter range of the laser radar; Determining the laser beam coordinates of the laser radar based on the installation test parameters, a preset driving speed of the laser radar, and a transmission time interval; Based on the laser beam coordinates and a preset target plane expression of the object, determining actual intersection points and occlusion points of the laser radar on the target plane of the object when the object is traveling at a preset speed, wherein the actual intersection point is the intersection point at which the laser radar beam radius generated by the laser beam on the target plane is the smallest, and the remaining intersection points are determined as occlusion points; Determine whether a test stop condition of the installation test parameter is met, and if so, determine a laser obstruction rate corresponding to the installation test parameter based on the actual intersection point and the obstruction point.

2. The method according to claim 1, wherein After determining the laser obstruction rate corresponding to the installation test parameter, the method further includes: Determine whether the preset test end conditions are met; If not, a new set of untested installation test parameters is randomly obtained from the preset range of laser radar installation parameters for testing; If yes, the entire testing process ends.

3. The method according to claim 1 or 2, wherein: Determining whether a test stop condition of the installation test parameter is met includes: Determining whether the laser radar has traveled a preset distance at a preset speed, and if so, stopping the test process of the installation test parameters; or, Determine whether the laser radar has traveled at a preset speed for a preset time period. If so, stop the test process of the installation test parameters.

4. The method according to claim 3, wherein: During one test of the installation test parameters, the laser radar transmits n times in total. The laser beam coordinates of the laser radar are determined based on the installation test parameters, the preset driving speed of the laser radar and the emission time interval, specifically: Based on the installation test parameters, the preset driving speed and emission time interval of the laser radar, the coordinates of the laser beam generated each time the laser radar is emitted from the 1st to the nth time are determined.

5. The method according to claim 4, wherein Determining, based on the laser beam coordinates and a preset target plane expression of the object, actual intersection points and occlusion points of the laser radar on the target plane of the object while the object is traveling at a preset speed, specifically includes: Based on the coordinates of the laser beams generated by each laser radar emission from the first to the nth time and the preset target plane expression, the laser radar beam radius of the intersection point of the laser beams generated by each laser radar emission from the first to the nth time on the target plane is obtained; Obtaining a coordinate value of an intersection point of the laser radar beam on a target plane of the object based on a laser radar beam radius of the intersection point and a laser radar laser beam coordinate; The intersection point with the smallest laser radar beam radius generated by the laser beam emitted by the laser radar each time on the target plane is determined as the actual intersection point, and the remaining intersection points are determined as blocking points.

6. The method according to claim 5, wherein: Determining the laser obstruction rate corresponding to the installation test parameter based on the actual intersection point and the obstruction point includes: Counting the total number of actual intersection points and the total number of occlusion points on the target plane of the object during all tests of the installation test parameters; The laser obstruction rate corresponding to the installation test parameter is determined according to the total number of actual intersection points and the total number of obstruction points on the target plane.

7. The method according to claim 3, wherein: After the entire testing process is completed, the method further includes: Selecting a target installation test parameter from all the installation test parameters based on the laser obstruction rates corresponding to all the installation test parameters obtained; The target installation test parameters are used as the actual installation parameters of the laser radar.

8. The method according to claim 7, wherein: After selecting the target installation test parameters, the method further includes: The target installation test parameters are sent to the self-mobile device so that the self-mobile device can adjust the position of the laser radar installed on the self-mobile device according to the target installation test parameters.

9. A device for determining a laser obstruction rate, wherein: include: memory and processor; The memory is used to store one or more computer instructions; The processor is configured to execute the one or more computer instructions to: Randomly obtain a set of installation test parameters of the laser radar within the preset installation parameter range of the laser radar; Determining the laser beam coordinates of the laser radar based on the installation test parameters, a preset driving speed of the laser radar, and a transmission time interval; Based on the laser beam coordinates and a preset target plane expression of the object, determining actual intersection points and occlusion points of the laser radar on the target plane of the object when the object is traveling at a preset speed, wherein the actual intersection point is the intersection point at which the laser radar beam radius generated by the laser beam on the target plane is the smallest, and the remaining intersection points are determined as occlusion points; Determine whether a test stop condition of the installation test parameter is met, and if so, determine a laser obstruction rate corresponding to the installation test parameter based on the actual intersection point and the obstruction point.

10. A computer-readable storage medium storing a computer program, wherein: When the computer program is executed by one or more processors, the one or more processors are caused to perform the following actions: Randomly obtain a set of installation test parameters of the laser radar within the preset installation parameter range of the laser radar; Determining the laser beam coordinates of the laser radar based on the installation test parameters, a preset driving speed of the laser radar, and a transmission time interval; Based on the laser beam coordinates and a preset target plane expression of the object, determining actual intersection points and occlusion points of the laser radar on the target plane of the object when the object is traveling at a preset speed, wherein the actual intersection point is the intersection point at which the laser radar beam radius generated by the laser beam on the target plane is the smallest, and the remaining intersection points are determined as occlusion points; Determine whether a test stop condition of the installation test parameter is met, and if so, determine a laser obstruction rate corresponding to the installation test parameter based on the actual intersection point and the obstruction point.

Images