Sensor adjustment method and system

Abstract

The present invention provides a sensor adjustment method and system. The method comprises: a mobile terminal receives adjustment parameters, generates adjustment instructions according to the adjustment parameters and sends them to a vehicle-mounted controller; the vehicle-mounted controller adjusts the position and / or angle of the sensor according to the adjustment instructions; the vehicle-mounted controller obtains the position and angle of the sensor and sends them to the mobile terminal; the mobile terminal displays the position and angle of the sensor. Through the present invention, a user can remotely control the position and / or angle of the vehicle-mounted sensing sensor with the help of a mobile terminal, which facilitates the debugging and calibration of the vehicle-mounted sensing sensor.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a sensor adjustment method and system. Background Art

[0002] In order to assist the driver or realize unmanned driving, it is necessary to rely on vehicle-mounted cameras, radars and other perception sensors. In order to ensure that the perception sensors can perceive the required field of view information, it is necessary to set a reasonable installation position and angle for the perception sensors, which requires a lot of testing and calibration work.

[0003] The existing technology designs the fixed bracket to be adjustable, and controls its movement through a controller to indirectly control the position and angle of the sensor, thereby obtaining the sensor's perception field of view information at different positions and / or angles. However, in actual applications, the fixed bracket still needs to be controlled by means of a vehicle-mounted button, which makes debugging and test calibration inconvenient, and when the unmanned vehicle is remotely controlled, the need for real-time adjustment of the sensor's position and / or angle cannot be met. Summary of the invention

[0004] The main purpose of the present invention is to provide a sensor adjustment method and system, aiming to solve the technical problem in the prior art that the position and / or angle of the sensor cannot be adjusted remotely in real time.

[0005] In a first aspect, the present invention provides a sensor adjustment method, the sensor adjustment method comprising:

[0006] The mobile terminal receives the adjustment parameters, generates adjustment instructions according to the adjustment parameters and sends them to the vehicle controller;

[0007] The on-board controller adjusts the position and / or angle of the sensor according to the adjustment instruction;

[0008] The on-board controller obtains the position and angle of the sensor and sends it to the mobile terminal;

[0009] The mobile terminal displays the position and angle of the sensor.

[0010] Optionally, the step of the mobile terminal receiving the adjustment parameter and generating an adjustment instruction according to the adjustment parameter and sending the adjustment instruction to the vehicle controller includes:

[0011] The mobile terminal receives the adjustment parameter;

[0012] Detecting whether the adjustment parameters include at least one set of control information corresponding to the same sensor number and in opposite directions;

[0013] If not included, an adjustment instruction is generated according to the adjustment operation and sent to the on-board controller.

[0014] Optionally, the step of generating an adjustment instruction according to the adjustment parameter and sending it to the vehicle controller includes:

[0015] An adjustment instruction is generated according to the adjustment parameter, and the adjustment instruction is encrypted and then sent to the vehicle controller.

[0016] Optionally, the step of the on-board controller adjusting the position and / or angle of the sensor according to the adjustment instruction includes:

[0017] The on-board controller decrypts the encrypted adjustment instruction to obtain the adjustment parameter;

[0018] Determining, based on the current position and / or angle of the sensor and the adjustment parameter, whether the position and / or angle of the sensor can be adjusted according to the adjustment parameter;

[0019] If possible, the position and / or angle of the sensor is adjusted according to the adjustment parameters.

[0020] Optionally, after the step of displaying the position and angle of the sensor on the mobile terminal, the method further includes:

[0021] When the mobile terminal receives the save instruction, the sensor number and the position and angle of the sensor are stored in association in the memory;

[0022] When the mobile terminal receives the extraction instruction, the position and angle corresponding to the sensor number contained in the extraction instruction are obtained from the memory.

[0023] In a second aspect, the present invention further provides a sensor adjustment system, the sensor adjustment system comprising a mobile terminal and a vehicle-mounted controller:

[0024] The mobile terminal is used to: receive adjustment parameters, generate adjustment instructions according to the adjustment parameters and send them to the vehicle controller;

[0025] The vehicle-mounted controller is used to: adjust the position and / or angle of the sensor according to the adjustment instruction; obtain the position and angle of the sensor and send them to the mobile terminal;

[0026] The mobile terminal is also used to display the position and angle of the sensor.

[0027] Optionally, the mobile terminal is used to:

[0028] receiving adjustment parameters;

[0029] Detecting whether the adjustment parameters include at least one set of control information corresponding to the same sensor number and in opposite directions;

[0030] If not included, an adjustment instruction is generated according to the adjustment operation and sent to the on-board controller.

[0031] Optionally, the mobile terminal is used to:

[0032] An adjustment instruction is generated according to the adjustment parameter, and the adjustment instruction is encrypted and then sent to the vehicle controller.

[0033] Optional, on-board controller for:

[0034] Decrypting the encrypted adjustment instruction to obtain the adjustment parameter;

[0035] Determining, based on the current position and / or angle of the sensor and the adjustment parameter, whether the position and / or angle of the sensor can be adjusted according to the adjustment parameter;

[0036] If possible, the position and / or angle of the sensor is adjusted according to the adjustment parameters.

[0037] Optionally, the mobile terminal is used to:

[0038] When receiving a save instruction, the sensor number and the position and angle of the sensor are stored in association in a memory;

[0039] When an extraction instruction is received, the position and angle corresponding to the sensor number contained in the extraction instruction are obtained from the memory.

[0040] In the present invention, the mobile terminal receives adjustment parameters, generates adjustment instructions according to the adjustment parameters and sends them to the vehicle-mounted controller; the vehicle-mounted controller adjusts the position and / or angle of the sensor according to the adjustment instructions; the vehicle-mounted controller obtains the position and angle of the sensor and sends them to the mobile terminal; the mobile terminal displays the position and angle of the sensor. Through the present invention, the user can remotely control the position and / or angle of the vehicle-mounted sensing sensor with the help of the mobile terminal, which facilitates the debugging and calibration of the vehicle-mounted sensing sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of a flow chart of an embodiment of a sensor adjustment method of the present invention;

[0042] Figure 2 FIG. 1 is a schematic diagram of the structure of a sensor adjustment system according to an embodiment of the present invention.

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0045] In a first aspect, an embodiment of the present invention provides a sensor adjustment method.

[0046] In one embodiment, referring to Figure 1 , Figure 1 FIG. 1 is a flow chart of an embodiment of a sensor adjustment method of the present invention. Figure 1 As shown, the sensor adjustment method includes:

[0047] Step S10, the mobile terminal receives the adjustment parameters, generates an adjustment instruction according to the adjustment parameters and sends it to the vehicle controller;

[0048] In this embodiment, the user can input the adjustment parameters in the input interface of the mobile terminal by inputting data. After the mobile terminal receives the adjustment parameters input by the user, it can generate adjustment instructions according to the adjustment parameters and send them to the vehicle controller. Of course, it is also possible to send a voice message to the mobile terminal, and the mobile terminal obtains the adjustment parameters by parsing the voice message, and then generates adjustment instructions according to the adjustment parameters and sends them to the vehicle controller. It is also possible to display control buttons on the mobile terminal, and the user determines the sensor to be controlled and the control information by operating the control buttons. The mobile terminal receives the adjustment parameters corresponding to the user operation, and then generates adjustment instructions according to the adjustment parameters and sends them to the vehicle controller. Among them, the adjustment parameters include at least the number of the sensor and the position and / or angle control information, and the control information includes the adjustment direction and the adjustment amount.

[0049] Step S20, the vehicle controller adjusts the position and / or angle of the sensor according to the adjustment instruction;

[0050] In this embodiment, after receiving the adjustment instruction sent by the mobile terminal, the on-board controller can adjust the position and / or angle of the sensor according to the adjustment instruction. Specifically, the sensor can be mounted through an adjustable component, and the on-board controller controls the adjustable component to perform corresponding enabling actions through the adjustment instruction, thereby adjusting the position and / or angle of the sensor according to the adjustment instruction. Among them, the sensor refers to an environmental perception sensor, such as a camera, an ultrasonic radar, a millimeter wave radar, and the like.

[0051] Furthermore, in order to ensure the accuracy of the adjustment, the mobile terminal may insert a check field in the adjustment instruction when sending the adjustment instruction to the vehicle controller. After receiving the adjustment instruction, the vehicle controller detects whether there is a correct check field in the adjustment instruction. If so, the position and / or angle of the sensor are adjusted according to the adjustment instruction. Among them, if there is a correct check field in the adjustment instruction, it can be said that no data error occurred during the transmission of the adjustment instruction from the mobile terminal to the vehicle controller. In this case, the vehicle controller adjusts the position and / or angle of the sensor according to the adjustment instruction in accordance with the adjustment instruction, which is an operation that meets the user's expectations. It is easy to understand that if there is no correct check field, an error prompt is returned to the mobile terminal, so that the user on the mobile terminal side can re-enter the adjustment parameters by entering data, issuing voice or operating control buttons.

[0052] Step S30, the vehicle controller obtains the position and angle of the sensor and sends it to the mobile terminal;

[0053] In this embodiment, the position and angle of the sensor are acquired in real time through the acquisition device. After the vehicle-mounted controller adjusts the position and / or angle of the sensor according to the adjustment instruction, the vehicle-mounted controller acquires the position and angle of the sensor acquired by the acquisition device at this time, and sends the position and angle of the sensor to the mobile terminal.

[0054] Step S40: the mobile terminal displays the position and angle of the sensor.

[0055] In this embodiment, after the mobile terminal receives the position and angle of the sensor fed back by the vehicle-mounted controller, the position and angle of the sensor can be displayed, so that the user on the mobile terminal side knows the current position and angle of the sensor.

[0056] In this embodiment, the mobile terminal receives the adjustment parameters, generates an adjustment instruction based on the adjustment parameters and sends it to the vehicle controller; the vehicle controller adjusts the position and / or angle of the sensor according to the adjustment instruction; the vehicle controller obtains the position and angle of the sensor and sends it to the mobile terminal; the mobile terminal displays the position and angle of the sensor. Through this embodiment, the user can remotely control the position and / or angle of the vehicle-mounted sensing sensor with the help of the mobile terminal, which facilitates the debugging and calibration of the vehicle-mounted sensing sensor.

[0057] Furthermore, in one embodiment, step S10 includes:

[0058] The mobile terminal receives the adjustment parameters; detects whether the adjustment parameters contain at least one set of control information corresponding to the same sensor number and in opposite directions; if not, generates an adjustment instruction according to the adjustment operation and sends it to the vehicle controller.

[0059] In this embodiment, the adjustment parameter may be an adjustment parameter for one sensor or an adjustment parameter for multiple sensors, wherein the adjustment parameter corresponding to each sensor is composed of a sensor number and corresponding control information. For example, the adjustment parameter received by the mobile terminal is:

[0060] Sensor number 1-control information 1, sensor number 2-control information 2 and sensor number 3-control information 3. Among them, control information 1 is specifically offset 1cm to the left and deflected 3° upward; control information 2 is specifically offset 1cm to the left and deflected 3° downward; control information 3 is specifically offset 1cm to the left and 2cm to the right. That is, control information 3 is control information with the same sensor number and opposite directions, that is, there is at least one group of control information corresponding to the same sensor number and opposite directions. Obviously, this control information is wrong, which may be caused by user input errors or operation errors. At this time, the adjustment instructions generated based on the adjustment parameters are also wrong. Therefore, when there is an adjustment parameter containing at least one group of control information corresponding to the same sensor number and opposite directions, the step of generating an adjustment instruction according to the adjustment operation and sending it to the vehicle controller cannot be executed. Only when the adjustment parameter does not include control information corresponding to the same sensor number and opposite directions, the adjustment instruction is generated according to the adjustment operation and sent to the vehicle controller.

[0061] In this embodiment, the validity of the adjustment parameters is judged, thereby avoiding the generation of adjustment instructions according to invalid adjustment parameters, thereby avoiding the occurrence of subsequent incorrect adjustments to the sensor.

[0062] Furthermore, in one embodiment, the step of generating an adjustment instruction according to the adjustment parameter and sending it to the vehicle controller includes:

[0063] An adjustment instruction is generated according to the adjustment parameter, and the adjustment instruction is encrypted and then sent to the vehicle controller.

[0064] In this embodiment, in order to ensure data security, after the mobile terminal generates an adjustment instruction according to the adjustment parameter, it further encrypts the adjustment instruction and then sends the encrypted adjustment instruction to the vehicle controller. The encryption process may adopt symmetric encryption or asymmetric encryption. The specific encryption form is not limited here and is selected according to actual needs.

[0065] Furthermore, in one embodiment, step S20 includes:

[0066] The on-board controller decrypts the encrypted adjustment instruction to obtain adjustment parameters; determines whether the position and / or angle of the sensor can be adjusted according to the adjustment parameters based on the current position and / or angle of the sensor and the adjustment parameters; if so, adjusts the position and / or angle of the sensor according to the adjustment parameters.

[0067] In this embodiment, after receiving the encrypted adjustment instruction, the vehicle controller decrypts the encrypted adjustment instruction according to a preset encryption method to obtain adjustment parameters. The adjustment parameters include one or more groups of corresponding sensor numbers and control information.

[0068] For example, sensor number 1-control information 1, sensor number 2-control information 2, and sensor number 3-control information 3. Among them, control information 1 is specifically 1 cm offset to the left and 3° upward; control information 2 is specifically 1 cm offset to the left and 3° downward; control information 3 is specifically 1 cm offset to the left.

[0069] Based on control information 1, the on-board controller determines that sensor 1 corresponding to sensor number 1 needs to be offset 1 cm to the left and deflected 3° upward, then further obtains the current position and angle of sensor 1, and determines whether the current position of sensor 1 offset 1 cm to the left has reached the limit of sensor 1's movement to the left, and determines whether the current angle of sensor 1 deflected 3° upward has reached the limit of sensor 1's upward deflection. If neither is reached, it is determined that the position and angle of sensor 1 can be adjusted according to control information 1; and so on, the on-board controller determines whether the position and angle of sensor 2 can be adjusted according to control information 2 according to control information 2 and the current position and angle of sensor 2 corresponding to sensor number 2; the on-board controller determines whether the position of sensor 3 can be adjusted according to control information 3 according to the current position of sensor 3 corresponding to sensor number 3.

[0070] If the vehicle-mounted controller determines that the position and / or angle of sensor 1 can be adjusted according to control information 1, the position and angle of sensor 2 can be adjusted according to control information 2, and the position of sensor 3 can be adjusted according to control information 3, then it is determined that the position and / or angle of the sensor can be adjusted according to the adjustment parameters, and the position and / or angle of the sensor is adjusted according to the adjustment parameters.

[0071] In this embodiment, before the vehicle-mounted controller adjusts the corresponding sensor according to the adjustment parameters obtained based on the adjustment instruction, it first determines whether the action of adjusting the corresponding sensor according to the adjustment parameters can be successfully executed. Only when it is determined that it can be successfully executed, the position and / or angle of the sensor is adjusted according to the adjustment parameters, thereby ensuring the successful execution of the adjustment action.

[0072] It is easy to understand that if it is determined that the position and / or angle of the sensor cannot be adjusted according to the adjustment parameters, an error prompt is returned to the mobile terminal so that the user on the mobile terminal can re-enter the adjustment parameters by entering data, uttering voice or operating control buttons.

[0073] Furthermore, in one embodiment, after step S40, the method further includes:

[0074] When the mobile terminal receives a save instruction, the sensor number and the position and angle of the sensor are associated and stored in the memory; when the mobile terminal receives an extract instruction, the position and angle corresponding to the sensor number contained in the extract instruction are obtained from the memory.

[0075] In this embodiment, there is a memory storage and memory retrieval function form on the mobile terminal interface. When the mobile terminal receives a save instruction triggered by a user operation, it detects whether the other functions are running at this time. If other functions are running, otherwise a pop-up window will be displayed with an error; if no other functions are running, the sensor number corresponding to the save instruction and the position and angle corresponding to the number are associated and stored in the memory. At the same time, the sensor number corresponding to the save instruction and the position and angle corresponding to the number are sent to the vehicle-mounted controller for storage in the memory in the vehicle-mounted controller.

[0076] When the mobile terminal receives an extraction instruction triggered by a user operation, it checks whether other functions are running at this time. If other functions are running, a pop-up window will be displayed. If no other functions are running, the sensor number contained in the extraction instruction is used as an index to extract the position and angle corresponding to the sensor number from the memory, and the position and angle corresponding to the extracted sensor number are associated with the sensor number and displayed.

[0077] In a second aspect, an embodiment of the present invention further provides a sensor adjustment system.

[0078] In one embodiment, referring to Figure 2 , Figure 2 FIG. 1 is a schematic diagram of the structure of an embodiment of a sensor adjustment system of the present invention. Figure 2 As shown, the sensor adjustment system includes a mobile terminal and a vehicle controller:

[0079] The mobile terminal 10 is used to: receive adjustment parameters, generate adjustment instructions according to the adjustment parameters and send them to the vehicle controller;

[0080] The vehicle-mounted controller 20 is used to: adjust the position and / or angle of the sensor according to the adjustment instruction; obtain the position and angle of the sensor and send them to the mobile terminal;

[0081] The mobile terminal 10 is also used to display the position and angle of the sensor.

[0082] Furthermore, in one embodiment, the mobile terminal 10 is used for:

[0083] receiving adjustment parameters;

[0084] Detecting whether the adjustment parameters include at least one set of control information corresponding to the same sensor number and in opposite directions;

[0085] If not included, an adjustment instruction is generated according to the adjustment operation and sent to the on-board controller.

[0086] Furthermore, in one embodiment, the mobile terminal 10 is used for:

[0087] An adjustment instruction is generated according to the adjustment parameter, and the adjustment instruction is encrypted and then sent to the vehicle controller.

[0088] Furthermore, in one embodiment, the vehicle-mounted controller 20 is used to:

[0089] Decrypting the encrypted adjustment instruction to obtain the adjustment parameter;

[0090] Determining, based on the current position and / or angle of the sensor and the adjustment parameter, whether the position and / or angle of the sensor can be adjusted according to the adjustment parameter;

[0091] If possible, the position and / or angle of the sensor is adjusted according to the adjustment parameters.

[0092] Furthermore, in one embodiment, the mobile terminal 10 is used for:

[0093] When receiving a save instruction, the sensor number and the position and angle of the sensor are stored in association in a memory;

[0094] When an extraction instruction is received, the position and angle corresponding to the sensor number contained in the extraction instruction are obtained from the memory.

[0095] The specific embodiments of the sensor adjustment system of the present invention are substantially the same as the various embodiments of the above-mentioned sensor adjustment method, and will not be described in detail herein.

[0096] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0097] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0098] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0099] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A sensor adjustment method, characterized in that: The sensor adjustment method comprises: The mobile terminal receives the adjustment parameters, generates adjustment instructions according to the adjustment parameters and sends them to the vehicle controller; The on-board controller adjusts the position and / or angle of the sensor according to the adjustment instruction; The on-board controller obtains the position and angle of the sensor and sends it to the mobile terminal; The mobile terminal displays the position and angle of the sensor; The steps of receiving the adjustment parameters by the mobile terminal and generating an adjustment instruction according to the adjustment parameters and sending the adjustment instruction to the vehicle controller include: The mobile terminal receives the adjustment parameter; Detecting whether the adjustment parameters include at least one set of control information corresponding to the same sensor number and in opposite directions; If not included, an adjustment instruction is generated according to the adjustment parameters and sent to the vehicle controller.

2. The sensor adjustment method according to claim 1, characterized in that: The step of generating an adjustment instruction according to the adjustment parameter and sending it to the vehicle controller comprises: An adjustment instruction is generated according to the adjustment parameter, and the adjustment instruction is encrypted and then sent to the vehicle controller.

3. The sensor adjustment method according to claim 2, characterized in that: The step of the on-board controller adjusting the position and / or angle of the sensor according to the adjustment instruction comprises: The on-board controller decrypts the encrypted adjustment instruction to obtain the adjustment parameter; Determining, based on the current position and / or angle of the sensor and the adjustment parameter, whether the position and / or angle of the sensor can be adjusted according to the adjustment parameter; If possible, the position and / or angle of the sensor is adjusted according to the adjustment parameters.

4. The sensor adjustment method according to claim 1, characterized in that: After the step of displaying the position and angle of the sensor on the mobile terminal, the method further includes: When the mobile terminal receives the save instruction, the sensor number and the position and angle of the sensor are stored in association in the memory; When the mobile terminal receives the extraction instruction, the position and angle corresponding to the sensor number contained in the extraction instruction are obtained from the memory.

5. A sensor adjustment system, characterized in that: The sensor adjustment system includes a mobile terminal and a vehicle-mounted controller: The mobile terminal is used to: receive adjustment parameters; detect whether the adjustment parameters contain at least one set of control information corresponding to the same sensor number and in opposite directions; if not, generate an adjustment instruction according to the adjustment parameters and send it to the vehicle controller; The vehicle-mounted controller is used to: adjust the position and / or angle of the sensor according to the adjustment instruction; obtain the position and angle of the sensor and send them to the mobile terminal; The mobile terminal is also used to display the position and angle of the sensor.

6. The sensor adjustment system according to claim 5, characterized in that: Mobile terminals are used for: An adjustment instruction is generated according to the adjustment parameter, and the adjustment instruction is encrypted and then sent to the vehicle controller.

7. The sensor adjustment system according to claim 6, characterized in that: The on-board controller is used for: Decrypting the encrypted adjustment instruction to obtain the adjustment parameter; Determining, based on the current position and / or angle of the sensor and the adjustment parameter, whether the position and / or angle of the sensor can be adjusted according to the adjustment parameter; If possible, the position and / or angle of the sensor is adjusted according to the adjustment parameters.

8. The sensor adjustment system according to claim 5, characterized in that: Mobile terminals are used for: When receiving a save instruction, the sensor number and the position and angle of the sensor are stored in association in a memory; When an extraction instruction is received, the position and angle corresponding to the sensor number contained in the extraction instruction are obtained from the memory.

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