A dirty reminding method and device applied to a laser radar and a storage medium

Abstract

The embodiment of the application provides a dirty reminding method applied to a laser radar, the method is applied to a vehicle, the vehicle is provided with at least one laser radar, and the method comprises the following steps: obtaining a dirty detection result; in the case that the dirty detection result represents that a plurality of continuous abnormal detection periods exist, determining a driving scene of the vehicle; and according to the driving scene of the vehicle, determining a dirty reminding strategy of the laser radar, wherein the dirty reminding strategy comprises: in the case that the driving scene is a preset scene, no reminding information is sent. The technical scheme provided by the embodiment of the application is used to determine whether the driving scene of the vehicle is a scene in which the laser radar is prone to misjudgment, such as a heavy rain scene, an internal fogging scene and the like, after it is determined that the laser radar detects a dirty event, in the case that it is determined that the driving scene of the vehicle is a scene in which the laser radar is prone to misjudgment, no reminding information is sent, so that the error reminding is avoided, and then the driving interference on the user is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar, more particularly, to a dirty reminding method and device applied to laser radar and a storage medium. BACKGROUND

[0002] Laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting a laser beam. In the field of automobiles, laser radars are usually arranged on both sides of the front of a vehicle to detect obstacles in front of the vehicle.

[0003] A laser radar comprises a laser emitting device, a laser receiving device and a light-transmitting cover plate arranged in the emitting path of the laser emitting device. When the light-transmitting cover plate is dirty (such as flying insects, ice and snow, and sludge), the range of the laser radar will decrease. To ensure the normal operation of the laser radar, it is necessary to detect whether there is dirt on the light-transmitting cover plate of the laser radar in time and to remind the user to remove the dirt in time when there is dirt.

[0004] However, the laser radar may misjudge whether there is dirt. SUMMARY

[0005] The present application provides a dirty reminding method and device applied to a laser radar and a storage medium.

[0006] In a first aspect, the present application provides a dirty reminding method applied to a laser radar, which is applied to a processor of a vehicle, the vehicle being provided with at least one laser radar, and the method comprising: acquiring a dirty detection result, the dirty detection result representing whether at least one detection period of the laser radar is an abnormal detection period, the abnormal detection period being a detection period in which the dirt point rate is greater than a preset percentage; in the case where the dirty detection result represents that there are multiple continuous abnormal detection periods, determining a driving scene of the vehicle; and determining a dirty reminding strategy of the laser radar according to the driving scene of the vehicle, the dirty reminding strategy comprising: in the case where the driving scene is a preset scene, not issuing a reminding information, the reminding information being used to remind to remove the dirt on the surface of the light-transmitting cover plate of the laser radar away from the laser emitting device, the preset scene comprising at least one of the following: a heavy rain scene and an internal fogging scene.

[0007] In a second aspect, the embodiments of the present application provide a dirty reminding device applied to a laser radar, the device comprising: a result obtaining module configured to obtain a dirty detection result, the dirty detection result representing whether at least one detection period of the laser radar is an abnormal detection period, the abnormal detection period being a detection period in which a dirty point rate is greater than a preset percentage; a scene determining module configured to determine a driving scene of a vehicle in a case where the dirty detection result represents that there are multiple continuous abnormal detection periods; and a strategy determining module configured to determine a dirty reminding strategy of the laser radar according to the driving scene of the vehicle, the dirty reminding strategy comprising: in a case where the driving scene is a preset scene, not sending a reminding information, the reminding information being used to remind to remove the dirt on a surface of a light-transmitting cover plate of the laser radar away from a laser emitting device, the preset scene comprising at least one of the following: a heavy rain scene and an internal fogging scene.

[0008] In a third aspect, the embodiments of the present application provide a vehicle, the vehicle comprising a processor, a memory and at least one laser radar, the memory storing computer program instructions, and the computer program instructions are invoked by the processor to execute the dirty reminding method applied to the laser radar as described in the first aspect.

[0009] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium storing program codes, and the program codes are invoked by a processor to execute the dirty reminding method applied to the laser radar as described in the first aspect.

[0010] In a fifth aspect, the embodiments of the present application provide a computer program product, the product being executed to implement the dirty reminding method applied to the laser radar as described in the first aspect.

[0011] The embodiments of the present application provide a dirty reminding method applied to a laser radar, after determining that the laser radar detects a dirty event, determining whether a driving scene of a vehicle is a scene in which the laser radar is prone to misjudgment, such as a heavy rain scene, an internal fogging scene and the like, and in a case where it is determined that the driving scene of the vehicle is the scene in which the laser radar is prone to misjudgment, not sending a reminding information, thereby avoiding sending a false reminding and further reducing the driving interference on a user. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0013] Figure 1 is a working principle schematic diagram of a laser radar provided by the embodiments of the present application.

[0014] Figure 2 is a detection flowchart of an abnormality detection period provided by an embodiment of the present application.

[0015] Figure 3 is a schematic diagram of an implementation environment of a dirty reminding method applied to a laser radar provided by an embodiment of the present application.

[0016] Figure 4 is a flowchart of a dirty reminding method applied to a laser radar provided by an embodiment of the present application.

[0017] Figure 5 is an interface schematic diagram of reminding information provided by an embodiment of the present application.

[0018] Figure 6 is a flowchart of a dirty reminding method applied to a laser radar provided by another embodiment of the present application.

[0019] Figure 7 is a block diagram of a dirty reminding device applied to a laser radar provided by an embodiment of the present application.

[0020] Figure 8 is a functional block diagram of a vehicle provided by an embodiment of the present application.

[0021] Figure 9 is a structural block diagram of a computer readable storage medium provided by an embodiment of the present application. DETAILED DESCRIPTION

[0022] The embodiments of the present application will be described in detail below, examples of the embodiments are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0023] In order to make the person skilled in the art better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below by combining the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor are within the scope of protection of the present application.

[0024] First, the working principle of the laser radar is introduced.

[0025] The laser radar 10 comprises a laser emitting device 11, a laser receiving device 12, a light-transmitting cover plate 13 and a micro processing unit 14. The light-transmitting cover plate 13 is arranged opposite to the laser emitting device 11 and is located on the light path of the laser beam emitted by the laser emitting device 11, i.e. the laser beam emitted by the laser emitting device 11 needs to pass through the light-transmitting cover plate 13 to transmit to the outside world, and the light-transmitting cover plate 13 can be made of glass, acrylic or other light-transmitting materials. The micro processing unit 14 is electrically connected with the laser emitting device 11 and the laser receiving device 12 respectively. The working principle of the laser radar comprises the following steps S10-S17.

[0026] In step S10, the laser emitting device 11 emits a laser beam L.

[0027] In step S11, the laser beam generates a first echo signal T0 when hitting the light-transmitting cover plate 13.

[0028] In step S12, the laser receiving device 12 receives the first echo signal T0.

[0029] In step S13, the laser receiving device 12 sends the parameters of the first echo signal T0 to the micro processing unit 14.

[0030] The parameters of the first echo signal T0 include signal strength, receiving time stamp, etc.

[0031] In the case that there is dirt on the surface of the light-transmitting cover plate 13 of the laser radar 10 away from the laser emitting device 11, since the reflectivity of the dirt is usually greater than the reflectivity of the light-transmitting cover plate, the signal strength of the first echo signal T0 reflected by the dirt is greatly enhanced, so that the micro processing unit 14 can determine whether the outer surface of the light-transmitting cover plate 13 of the laser radar 10 is dirty based on the signal strength of the first echo signal T0.

[0032] In the present application, the micro processing unit 14 obtains the ratio between the signal strength of the first echo signal T0 and a calibration value, and if the ratio is greater than a preset value, it is determined that there is dirt on the light path of the laser beam corresponding to the first echo signal T0. The first echo signal T0 whose ratio between the signal strength and the calibration value is greater than the preset value is referred to as an abnormal first echo signal. The calibration value refers to the signal strength of the first echo signal T0 reflected by the light-transmitting cover plate 13 in the case that there is no dirt on the light path of the laser beam, which is usually obtained by testing. The preset value is set according to experiments or experience, and in the embodiment of the present application, the preset value is 2.

[0033] The more the abnormal first echo signal T0 is, the more dirt exists on the surface of the light-transmitting cover plate 13 of the laser radar 10 away from the surface of the laser emitting device 11. When the dirt on the surface of the light-transmitting cover plate 13 of the laser radar 10 away from the surface of the laser emitting device 11 is up to a certain degree, a dirt event occurs. The micro processing unit 14 determines whether a dirt event occurs based on a ratio between the number of the abnormal first echo signals T0 received in one detection period and the total number of the laser beams emitted by the laser emitting device 11, and if the ratio is greater than a preset percentage, the detection period is determined as an abnormal detection period, and if the number of the continuous abnormal detection periods is greater than a preset number, it is determined that a dirt event occurs. The preset percentage and the preset number are set according to actual needs, and the embodiments of the present application do not limit them. Exemplarily, the preset percentage is 60%, and the preset number is 6.

[0034] Step S14, the laser beam generates a secondary echo signal T1 when hitting the obstacle.

[0035] Step S15, the laser receiving device 12 receives the secondary echo signal T1.

[0036] In the case that the light-transmitting cover plate 13 of the laser radar 10 away from the surface of the laser emitting device 11 is blocked, such as by a plastic bag, the laser receiving device 12 usually does not receive the secondary echo signal T1, and thus the micro processing unit 14 can determine whether there is a blockage on the emission path of the laser beam corresponding to the secondary echo signal T1 based on whether the secondary echo signal T1 is received.

[0037] Step S16, the laser receiving device 12 sends the parameters of the secondary echo signal T1 to the micro processing unit 14.

[0038] The parameters of the secondary echo signal T1 include signal strength, reception timestamp, etc.

[0039] Step S17, the micro processing unit 14 determines the distance, shape, etc. between the obstacle and the vehicle based on the parameters of the secondary echo signal T1.

[0040] For example, the micro processing unit 14 obtains the emission timestamp t1 of the laser beam and the reception timestamp t2 of the secondary echo signal T1, and then the distance d between the vehicle and the obstacle is d = (t2-t1)*v / 2, where v is the speed of light.

[0041] The process of determining whether a detection period is an abnormal detection period will be introduced below. Figure 2 The process of determining whether a detection period is an abnormal detection period will be introduced below.

[0042] Step S201, set the initial values of the first counter and the second counter to 0.

[0043] A first counter is used to count the number of dirty points, and the first counter is set to 0, i.e. t0_dirty_num = 0. A second counter is used to count the number of points traversed, and the second counter is set to 0, i.e. total_point_num = 0.

[0044] In step S202, the echo signal is received.

[0045] The laser receiving device receives the echo signal.

[0046] In step S203, it is detected whether the echo signal is a first echo signal.

[0047] Since the light-transmitting cover plate is closer to the laser emitting device than the obstacle, the time at which the laser receiving device receives the first echo signal T0 should be less than the time at which the laser receiving device receives the second echo signal T2.

[0048] The micro-processing unit detects whether the echo signal is a first echo signal based on the difference between the reception time stamp of the echo signal and the emission time stamp of the laser beam. If the difference is less than a first preset difference, it is determined that the echo signal is a first echo signal. If the difference is greater than the first preset difference and less than a second preset difference, it is determined that the echo signal is a second echo signal.

[0049] If yes, step S204 is performed. If no, no processing is performed.

[0050] In step S204, the value of the second counter is increased by 2.

[0051] In step S205, it is detected whether the ratio between the actual intensity and the calibration intensity of the echo signal is greater than a preset value.

[0052] The preset value is used to determine whether the first echo signal T0 is an abnormal first echo signal. If the ratio between the actual intensity and the calibration intensity of the first echo signal T0 is greater than the preset value, it is determined that the first echo signal T0 is an abnormal first echo signal.

[0053] If yes, step S205 is performed.

[0054] In step S206, the value of the first counter is increased by 2.

[0055] In step S207, it is detected whether the value of the second counter is greater than the total number of laser beams.

[0056] If yes, step S208 is performed. If no, the process is restarted from step S202.

[0057] In step S208, the dirty point rate is calculated according to the value of the first counter.

[0058] The micro-processing unit determines the ratio between the value of the first counter and the total number of laser beams as the dirt point rate. For example, if the value of the first counter is 56 and the total number of laser beams is 100, the dirt point rate is 56%.

[0059] In step S209, it is detected whether the dirt point rate is greater than a preset percentage.

[0060] If yes, step S210 is performed, and if no, step S211 is performed.

[0061] In step S210, the target detection period is determined as an abnormal detection period.

[0062] In step S211, the target detection period is determined as a normal detection period.

[0063] Referring to Figure 3 , a schematic diagram of an implementation environment provided by an embodiment of the present application is shown. The implementation environment is a vehicle 300. The vehicle 300 can be a car, an airplane, etc., and the embodiments of the present application do not limit the vehicle 300.

[0064] The vehicle 300 is provided with at least one laser radar 310 and a processor. A communication connection is established between the laser radar 310 and the processor. The laser radar 310 is used to detect whether there is an obstacle in front of the vehicle 300 and related parameters of the obstacle, and the working principle is as follows: the laser radar emits a plurality of laser beams at the same time, and if there is an obstacle in front of the vehicle 300 (within the detection range of the laser radar 310), the laser beams will be reflected after passing through the obstacle. The laser radar 310 receives the reflected laser beams, and determines the distance, direction, height, speed, attitude, shape, etc. of the obstacle based on the received laser beams and the emitted laser beams. In the embodiments of the present application, the vehicle 300 is provided with two laser radars 310, which are respectively located on both sides of the vehicle head.

[0065] The laser radar 310 includes a laser emitting device, a laser receiving device, and a light-transmitting cover plate opposite to the laser emitting device. When the light-transmitting cover plate of the laser radar 310 is dirty, such as flying insects, ice and snow, sludge, etc., the range of the laser radar 310 will decrease, and the working performance of the laser radar 310 will decrease, so the user needs to be reminded to clean the dirt on the light-transmitting cover plate in time.

[0066] It should be noted that the range of the laser radar 310 can also be reduced due to other factors, such as heavy rain, the laser radar 310 being blocked by an obstacle within a short distance (such as 50 cm), cracks or pits in the light-transmitting cover plate of the laser radar 310 due to stone impact, water mist on the side of the light-transmitting cover plate of the laser radar 310 facing the laser emitting device, and the like. Since the above factors are human factors that cannot be eliminated, the user does not need to be reminded. Therefore, the embodiments of the present application provide a dirty reminding method applied to a laser radar, and the processor excludes some scenes that do not need to be reminded of dirt by determining the working parameters of the vehicle 300 or the functional components included in the vehicle 300, so as to avoid the situation that the dirty reminding is triggered by mistake.

[0067] The vehicle 300 also includes a wiper, which is also in communication connection with the processor, such as an I2C connection. The wiper is an important accessory installed on the windshield of the vehicle 300, which is used to remove rain, snow and dust on the windshield that obstructs the view. Generally, the wiper is provided with different gears, and the higher the gear, the faster the movement speed of the wiper, and the faster the removal of obstacles, so the higher the gear of the wiper when the rain is heavy. In the embodiments of the present application, the wiper is used to send the gear information of the wiper to the processor, and the processor determines that the current is in a heavy rain scene when the gear of the wiper is high. At this time, the range of the laser radar 310 is reduced due to the rain blocking, and the warning information will not be sent out.

[0068] The vehicle 300 also includes a temperature sensor and a heating circuit and a heating control circuit. The processor is in communication connection with the heating control circuit and the temperature sensor. The heating control circuit is electrically connected with the heating circuit. The temperature sensor is arranged in the closed space on the side of the light-transmitting cover plate of the laser radar 310 facing the laser emitting device, to detect the internal temperature of the laser radar 310. The heating control circuit is used to control the heating circuit to be turned on. The heating circuit includes a heating material, such as a heating film, arranged on the light-transmitting cover plate of the laser radar 310, which has the characteristics of electrical conductivity and high electrical conductivity. After the heating circuit is turned on, the heating material generates heat to evaporate the water mist on the light-transmitting cover plate of the laser radar 310. In the embodiments of the present application, when the processor detects that the difference between the external environment temperature and the internal temperature of the laser radar 310 is large, the heating control circuit is used to control the heating circuit to be turned on. If the range of the laser radar 310 is restored after the heating is performed for a preset time, it is determined that the laser radar 310 is in an internal fogging scene. At this time, the range of the laser radar 310 is reduced due to the water mist in the light-transmitting cover plate, and the reminding information will not be sent out.

[0069] In some embodiments, the processor further does not send the reminder information when it is determined that the current driving scenario is a low-speed driving scenario. Since the laser radar 310 is more likely to be blocked by obstacles in the low-speed driving scenario, the processor also does not send the early warning information. In some embodiments, the processor further determines whether the reason for the range reduction of the laser radar 310 is that the laser radar 310 is blocked by obstacles in the low-speed driving scenario, and then sends the reminder information, to ensure the accuracy of the reminder information.

[0070] The vehicle 300 further includes a display device for displaying the reminder information, which can be an in-vehicle infotainment (IVI). The display device can be arranged on the side of the instrument panel of the vehicle, so that the user can also check the reminder information through the display device when controlling the driving of the vehicle. In other possible implementations, the vehicle 300 further includes a voice interaction device for playing the reminder information in the form of voice. The voice interaction device can be a loudspeaker.

[0071] Figure 4 The method provided by the embodiments of the present application is a dirty reminder method applied to a laser radar, and the method is applied to a processor in a vehicle. The method includes the following steps S401, S402 and S403.

[0072] In step S401, a dirty detection result is obtained.

[0073] The dirty detection result represents whether at least one detection period of the laser radar is an abnormal detection period. One detection period refers to the time interval between two adjacent laser beam emissions of the laser radar. An abnormal detection period refers to a detection period in which the dirty point rate is greater than a preset percentage. The detection process of the abnormal detection period can be referred to in the following embodiments. The preset percentage is set according to actual needs. For example, the preset percentage is 60%.

[0074] Optionally, the dirty detection result includes a dirty flag. In some embodiments, the value of the dirty flag represents different ranges of the dirty point rate. When the value of the dirty flag is a first preset value, it is indicated that the dirty point rate is greater than or equal to the preset percentage, and at this time, it is represented that the detection period is an abnormal detection period. When the value of the dirty flag is a second preset value, it is indicated that the dirty point rate is less than the preset percentage, and at this time, it is represented that the detection period is a normal detection period. The first preset value, the second preset value and the preset percentage are all set according to experiments or experience. For example, the first preset value is 1, the second preset value is 0, and the preset percentage is 60%.

[0075] In some embodiments, the value of the dirty flag indicates whether the detection period is an abnormal detection period. In the case that the value of the dirty flag is a third preset value, it indicates that the detection period is an abnormal detection period. In the case that the value of the dirty flag is a fourth preset value, it indicates that the detection period is a normal detection period. The third preset value and the fourth preset value are set according to experiments or experience. For example, the third preset value is 1 and the fourth preset value is 0.

[0076] The number of detection periods included in the dirty detection result is set according to actual needs. In one example, the dirty detection result indicates whether one detection period of the lidar is an abnormal detection period. In another example, the dirty detection result indicates whether six detection periods of the lidar are abnormal detection periods.

[0077] The processor receives the dirty detection result sent by the lidar every preset time length after the lidar is powered on. The preset time length can be determined according to the number of detection periods included in the dirty detection result. In the case that the dirty detection result indicates whether one detection period of the lidar is an abnormal detection period, the preset time length is the duration of one detection period. In the case that the dirty detection result indicates whether six detection periods of the lidar are abnormal detection periods, the preset time length is the duration of six detection periods.

[0078] The detection process of the abnormal detection period is described below. The process includes the following steps S41, S42 and S43.

[0079] Step S41, obtain the number of abnormal first echo signals of the lidar in a target detection period.

[0080] The target detection period is any one detection period. In one example, the target detection period is the detection period closest to the current time.

[0081] The abnormal first echo signal refers to a first echo signal whose ratio of actual intensity to calibrated intensity is greater than a preset value. The first echo signal refers to the echo signal reflected after the light beam emitted by the lidar passes through the light-transmitting cover plate of the lidar. The calibrated intensity refers to the intensity of the first echo signal when there is no dirt on the light-transmitting cover plate, which is usually tested in a laboratory environment. The preset value is set according to experiments or experience. For example, the preset value is 2.

[0082] Step S42, determine the dirt point rate of the lidar in the target detection period as the ratio between the number of abnormal first echo signals and the total amount of laser beams emitted by the lidar in the target detection period.

[0083] Exemplarily, the number of abnormal first-echo signals is 67, and the total number of laser beams is 100, so that the dirty point rate of the laser radar in the target detection period is 67%.

[0084] In step S43, if the dirty point rate of the laser radar in the target detection period is greater than the preset percentage, the target detection period is determined as an abnormal detection period.

[0085] The total number of laser beams emitted by the laser radar refers to the total number of laser beams emitted by the laser radar in a detection period. The preset percentage is set according to experiments or experience. Exemplarily, the preset percentage is 50%.

[0086] In step S402, the driving scene of the vehicle is determined in the case that the dirty detection result indicates that there are multiple continuous abnormal detection periods.

[0087] The dirty detection result indicates that there are multiple continuous abnormal detection periods, that is, the dirty point rate in multiple continuous detection periods is greater than the preset percentage. Here, multiple refers to that the number of continuous abnormal detection periods is greater than a preset number. The preset number is set according to experiments or experience. Exemplarily, the preset number is 6.

[0088] The driving scene of the vehicle includes but is not limited to a low-speed driving scene, a high-speed driving scene, a heavy rain scene, a light rain scene, an internal fogging scene, and the like. In some embodiments, the vehicle obtains a working parameter of the vehicle, and determines the driving scene of the vehicle based on the working parameter of the vehicle. The working parameter of the vehicle includes but is not limited to a speed parameter of a wiper, a temperature parameter of the vehicle, and a speed parameter of the vehicle.

[0089] The speed parameter of the wiper represents the working speed of the wiper. The faster the working speed, the stronger the ability to remove obstacles. The processor of the vehicle can adaptively adjust the speed parameter of the wiper according to the external weather environment. For example, in a light rain weather, the processor sets the speed parameter of the wiper to be small, and in a heavy rain weather, the processor sets the speed parameter of the wiper to be large. Therefore, the processor can determine whether the driving scene of the vehicle belongs to a heavy rain scene or a light rain scene based on the speed parameter of the wiper.

[0090] The temperature parameters of the vehicle include a first temperature parameter and a second temperature parameter. The first temperature parameter represents an ambient temperature in which the vehicle is located, which can be measured by a temperature sensor arranged on a surface of the vehicle or obtained from the cloud by the processor of the vehicle. The second temperature parameter represents an internal temperature of the lidar. Optionally, a temperature sensor is arranged in a closed space on a side of the light-transmitting cover plate of the lidar facing the laser emitting device, and the second temperature is measured by the temperature sensor. In a case where a difference between the first temperature and the second temperature is large, there is a high probability that water mist appears on the side of the light-transmitting cover plate of the lidar facing the laser emitting device, and therefore whether the driving scene of the vehicle is an internal fogging scene can be determined based on the temperature parameters.

[0091] The speed parameter of the vehicle is used to indicate a driving speed of the vehicle. The processor determines, based on a size relationship between the speed parameter of the vehicle and a set threshold, whether the driving scene of the vehicle is a low-speed driving scene or a high-speed driving scene.

[0092] In step S403, a dirty reminding strategy of the lidar is determined according to the driving scene of the vehicle.

[0093] The dirty reminding strategy is used to indicate a timing at which the lidar sends a reminding information. In the embodiments of the present application, the dirty reminding strategy includes: in a case where the driving scene is a preset scene, no reminding information is sent. The preset scene is set by a technician in advance. In the embodiments of the present application, the preset scene includes a heavy rain scene and an internal fogging scene, etc. In the embodiments of the present application, in the preset scene, the lidar may make a false judgment, that is, a dirty event is detected in a case where no dirty event occurs in the lidar, and at this time, no reminding information is sent, so as to avoid sending a false reminding and reduce interference on a user during driving.

[0094] For example, in the heavy rain scene, rain intensity shielding causes the lidar to detect a dirty event, at this time, the processor does not send a reminding information; for example, in the low-speed driving scene, an obstacle appearing at a relatively close position (such as within 20 meters) causes the lidar to detect a dirty event, at this time, the processor does not send a reminding information; for example, in the internal fogging scene, water mist shielding causes the lidar to detect a dirty event, at this time, the processor does not send a reminding information.

[0095] In some embodiments, the dirty reminding strategy further includes: in a case where the driving scene of the vehicle is not the preset scene, a reminding information is sent to remind a user to timely remove the dirty on a surface of the light-transmitting cover plate of the lidar away from the laser emitting device, so as to reduce an influence on a range of the lidar. The reminding information can be voice information, which is voice broadcasted by a loudspeaker controlled by the processor. The reminding information can also be text information, which is displayed by a display device controlled by the processor. Reference Figure 5Fig. 5 shows an interface diagram of the reminding information according to an embodiment of the present application. The display device in the vehicle displays the reminding information 51 "Radar is dirty, please wipe".

[0096] In some embodiments, the dirty reminding strategy further comprises: if there is an obstacle in the preset range corresponding to the vehicle, the reminding information is not sent when the driving scene of the vehicle is a low-speed driving scene. That is, when it is determined that the driving scene of the vehicle is a low-speed driving scene, the processor further detects whether there is an obstacle in the preset range corresponding to the vehicle, and if it is detected that there is an obstacle in the preset range corresponding to the vehicle, the reminding information is not sent, and if it is detected that there is no obstacle in the preset range corresponding to the vehicle, the reminding information is sent.

[0097] The preset range corresponding to the vehicle is within the range of the laser radar, and the distance between the maximum boundary of the preset range and the laser radar is less than the calibrated range of the laser radar. For example, the calibrated range of the laser radar is 70 meters, and the distance between the maximum boundary of the preset range and the laser radar is 5 meters. The vehicle can detect whether there is an obstacle through a distance sensor, an image acquisition device (such as a camera), which is not limited in the embodiments of the present application.

[0098] In summary, the method provided by the embodiments of the present application determines whether the driving scene of the vehicle is a scene in which the laser radar is prone to misjudgment, such as a heavy rain scene, an internal fogging scene, etc., after the laser radar detects a dirty event, and if it is determined that the driving scene of the vehicle is a scene in which the laser radar is prone to misjudgment, the reminding information is not sent, thereby avoiding sending false reminders and further reducing the driving interference on the user.

[0099] The following describes whether the driving scene of the vehicle is a preset scene based on the working parameters of the vehicle.

[0100] In some embodiments, the processor in the vehicle acquires the working gear of the wiper, and if the working gear of the wiper is a preset gear, it is determined that the driving scene of the vehicle is a heavy rain scene. If the working gear of the wiper is not the preset gear, it is determined that the driving scene of the vehicle is not a heavy rain scene.

[0101] The working gear represents a speed parameter of the wiper. The preset gear has a higher speed parameter than the non-preset gear. In some examples, the working gears of the wiper include low gear, middle gear and high gear. The high gear corresponds to the highest speed parameter, and the low gear corresponds to the lowest speed parameter. The preset gear is the high gear, that is, when the working gear of the wiper is the high gear, it is determined that the driving scene of the vehicle is the heavy rain scene. In other examples, the working gears of the wiper are represented by numbers, such as gear 1, gear 2, gear 3, gear 4, and the like, and the gear 1 corresponds to the highest speed parameter, and the gear 2 corresponds to the lowest speed parameter. The preset gears are gear 1 and gear 2, that is, when the working gear of the wiper is gear 1 or gear 2, it is determined that the driving scene of the vehicle is the heavy rain scene.

[0102] In some embodiments, the wiper reports its working gear to the processor every preset time. In other embodiments, the processor sends a query instruction to the wiper when the dirt detection result meets the preset condition, and the wiper reports its working gear to the processor based on the query instruction.

[0103] In some embodiments, the processor obtains a first temperature parameter and a second temperature parameter, and when the difference between the first temperature parameter and the second temperature parameter is greater than a preset difference, controls the heating of the heating material covered on the surface of the lidar; after the heating duration is greater than or equal to a preset duration, re-obtains the dirt detection result; when the re-obtained dirt detection result represents that the detection period after heating is not an abnormal detection period, it is determined that the driving scene of the vehicle is the internal fogging scene.

[0104] The preset difference is set according to experiments or experience. For example, the preset difference is 15 degrees. After the heating material heats up, it can evaporate the water mist or frost on the light-transmitting cover plate of the lidar. The heating material usually has high electrical conductivity, high thermal conductivity, high temperature resistance, and moisture resistance. High electrical conductivity and high thermal conductivity are used to ensure that the heating material can heat up quickly after being electrified, and the high temperature resistance is used to ensure that the heating material will not be burned out by high temperature. Moisture resistance is used to ensure that it will not be damaged by water mist or frost. The heating material can be a coated material, such as ITO coating.

[0105] In the embodiments of the present application, when the processor detects that the difference between the external environment temperature and the internal temperature of the lidar is large, it controls the heating circuit to be turned on through the heating control circuit, and then controls the heating material in the heating circuit to heat up. The preset duration can be set according to experiments or experience. For example, the preset duration is 3 minutes.

[0106] Since the heat generated by the heat generating material can cause the water mist or frost covering the light-transmitting cover plate of the laser radar to evaporate, the laser radar usually does not detect an abnormal detection period when performing the dirt detection. Therefore, whether the driving scene of the vehicle is an internal fogging scene can be determined by whether the laser radar fails to detect a dirt event after the heat generated by the heat generating material for a preset time length.

[0107] In some embodiments, the working parameter of the vehicle includes a speed parameter of the vehicle, and in a case where the speed parameter of the vehicle is less than a preset speed, it is determined that the driving scene of the vehicle is a low-speed driving scene. The preset speed can be set according to actual needs, which is not limited in the embodiments of the present application. For example, the preset speed is 20 km / h.

[0108] In some embodiments, the processor can sequentially detect whether the driving scene of the vehicle is a low-speed driving scene, a heavy rain scene, or an internal fogging scene, and in a case where the driving scene of the vehicle is not any of the above three scenes, the reminder information is sent. It should be noted that the detection order of whether to be any of the above three scenes is not limited in the embodiments of the present application. In addition, it should be noted that the processor does not need to perform subsequent judgment scenes after determining that the driving scene of the vehicle is any of the above preset scenes. For example, in a case where it is determined that the driving scene of the vehicle is a low-speed driving scene, it is not necessary to continue to judge whether it is in a heavy rain scene or an internal fogging scene. Only one of the orders is described below as an example.

[0109] Figure 6 The method for reminding dirt applied to a laser radar is provided by an embodiment of the present application. The method comprises the following steps S601-S611.

[0110] Step S601, obtaining a dirt detection result.

[0111] Step S602, obtaining a working parameter of a vehicle in a case where the dirt detection result represents that a preset condition is met.

[0112] The working parameter of the vehicle includes a speed parameter of a wiper of the vehicle, a temperature parameter of the vehicle, and a speed parameter of the vehicle.

[0113] Step S603, detecting whether the speed parameter of the vehicle is less than a preset speed.

[0114] If yes, step S604 is performed, and if no, step S605 is performed.

[0115] Step S604, determining that the driving scene of the vehicle is a low-speed driving scene.

[0116] Step S605, detecting whether there is an obstacle in a preset range corresponding to the vehicle.

[0117] If yes, step S611 is performed, and if no, a prompt information is sent out.

[0118] In step S606, it is detected whether the working gear of the wiper is a preset gear.

[0119] If yes, step S607 is performed, and if no, step S608 is performed.

[0120] In step S607, it is determined that the driving scene of the vehicle is a heavy rain scene.

[0121] In step S608, in a case where the temperature difference between the first temperature parameter and the second temperature parameter is greater than a preset difference, the heat generating material covered on the surface of the laser radar is controlled to generate heat.

[0122] In step S609, the dirty detection result is reacquired.

[0123] In step S610, in a case where the reacquired dirty detection result does not satisfy a preset condition, it is determined that the driving scene of the vehicle is an internal fogging scene.

[0124] In step S611, the prompt information is not sent out.

[0125] In conclusion, the method provided by the embodiments of the present application determines whether the driving scene of the vehicle is a scene in which the laser radar is prone to misjudgment, such as a heavy rain scene or an internal fogging scene, after the laser radar detects a dirty event, and does not send out a prompt information in a case where it is determined that the driving scene of the vehicle is a scene in which the laser radar is prone to misjudgment, thereby avoiding sending out an incorrect prompt information and further reducing the driving interference on the user.

[0126] Please refer to Figure 7Fig. 7 is a structural block diagram of a dirty reminding device 700 applied to a laser radar according to an embodiment of the present application, which shows a structure of the dirty reminding device 700 provided by the embodiment of the present application. The device is applied to a vehicle, and the vehicle is provided with at least one laser radar. The device 700 comprises a result obtaining module 710, a scene determining module 720 and a strategy determining module 730. The result obtaining module 710 is configured to obtain a dirty detection result, and the dirty detection result represents whether at least one detection period of the laser radar is an abnormal detection period. The abnormal detection period refers to a detection period in which a dirty point rate is greater than a preset percentage. The scene determining module 720 is configured to determine a driving scene of the vehicle in a case where the dirty detection result represents that there are multiple continuous abnormal detection periods. The strategy determining module 730 is configured to determine a dirty reminding strategy of the laser radar according to the driving scene of the vehicle. The dirty reminding strategy comprises: in a case where the driving scene is a preset scene, no reminding information is sent. The reminding information is used to remind to remove the dirt on the surface of the light-transmitting cover plate of the laser radar away from the laser emitting device. The preset scene comprises at least one of the following: a heavy rain scene and an internal fogging scene.

[0127] The embodiment of the present application provides a dirty reminding device applied to a laser radar. After it is determined that the laser radar detects a dirty event, it is determined whether the driving scene of the vehicle is a scene in which the laser radar is prone to misjudgment, such as a heavy rain scene and an internal fogging scene. In a case where it is determined that the driving scene of the vehicle is a scene in which the laser radar is prone to misjudgment, no reminding information is sent, so as to avoid sending false reminders and further reduce the driving interference on the user.

[0128] In some embodiments, the scene determining module 720 is configured to obtain a working parameter of the vehicle. The working parameter of the vehicle comprises at least one of the following: a working gear of a windscreen wiper of the vehicle, a temperature parameter of the vehicle and a speed parameter of the vehicle. The driving scene of the vehicle is determined based on the working parameter of the vehicle.

[0129] In some embodiments, the working parameter of the vehicle comprises the working gear of the windscreen wiper. The scene determining module 720 is configured to determine that the driving scene of the vehicle is a heavy rain scene in a case where the working gear of the windscreen wiper is a preset gear.

[0130] In some embodiments, the environmental temperature parameter of the vehicle includes a first temperature parameter and a second temperature parameter, the first temperature parameter characterizing an environmental temperature of the vehicle, and the second temperature parameter characterizing an internal temperature of the lidar; the scene determination module 720 is configured to: in a case where a temperature difference between the first temperature parameter and the second temperature parameter is greater than a preset difference value, control the heat-generating material covered on the surface of the lidar to generate heat; after a heat generation duration is greater than or equal to a preset duration, reacquire the dirt detection result; in a case where the reacquired dirt detection result indicates that the detection period after heating is not an abnormal detection period, determine that the driving scene of the vehicle is an internal fogging scene. In some embodiments, the working parameter of the vehicle includes a speed parameter of the vehicle, and the scene determination module 720 is configured to: in a case where the speed parameter of the vehicle is less than a preset speed, determine that the driving scene of the vehicle is a low-speed driving scene; the dirt reminding strategy further includes: in a case where the driving scene of the vehicle is a low-speed driving scene, if there is an obstacle within a preset range corresponding to the vehicle, no reminding information is sent.

[0131] In some embodiments, the determination process of the abnormal detection period includes: acquiring a number of abnormal first echo signals of the lidar in a target detection period, the abnormal first echo signal being a first echo signal with a ratio between an actual intensity and a calibrated intensity greater than a preset value, the first echo signal being a return signal of a laser beam emitted by a laser emitting device and reflected by the light-transmitting cover; determining a dirt point rate of the lidar in the target detection period as a ratio between the number of abnormal first echo signals and a total number of laser beams emitted by the lidar in the target detection period; and determining the target detection period as the abnormal detection period if the dirt point rate of the lidar in the target detection period is greater than a preset percentage.

[0132] In some embodiments, the dirt reminding strategy further includes: in a case where the driving scene of the vehicle is not a preset scene, sending the reminding information.

[0133] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the foregoing method embodiments, which will not be described herein.

[0134] In several embodiments provided in the present application, the coupling between the modules can be electrical, mechanical or other forms of coupling.

[0135] In addition, each functional module in each embodiment of the present application can be integrated in one processing module, or each module can exist physically independently, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0136] As Figure 8 shown in the above

[0137] The processor 810 can include one or more processing cores. The processor 810 connects various parts within the battery management system through various interfaces and lines, and performs various functions of the battery management system and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 820, and calling data stored in the memory 820. Optionally, the processor 810 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 810 can integrate a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 810, but can be realized by a separate communication chip.

[0138] The memory 820 can include a random access memory (RAM) and can also include a read-only memory (ROM). The memory 820 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 820 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method examples described below, etc. The data storage area can also store data created by the vehicle in use (such as a phone book, audio and video data, chat record data, etc.).

[0139] Please refer to Figure 9 , which shows that the embodiments of the present application also provide a computer readable storage medium 900, which stores computer program instructions 910, and the computer program instructions 910 can be called by a processor to execute the methods described in the above embodiments.

[0140] The computer-readable storage medium 900 can be an electronic, magnetic, optical, or other physical storage device. The computer-readable storage medium 900 can optionally include a non-transitory computer-readable storage medium. The computer-readable storage medium 900 can be a nonvolatile memory unit that stores data even when the computer-readable storage medium 900 is not connected to a computer. The computer-readable storage medium 900 can include the computer program instructions 910 that are executable by one or more processors 902. These computer program instructions 910 can be loaded into the computer-readable storage medium 900, for example, using a computer program product. The computer program instructions 910 can cause a computer to perform various methods when the instructions are executed by the computer. The computer program instructions 910 can be distributed over a network, for example, using a computer program product. Computer program or program instructions can be stored in a computer program product, which can be distributed over a network, for example, using a computer program product. The computer program instructions 910 can also be loaded into the computer-readable storage medium 900 using a computer program product.

[0141] The above merely provides the preferred examples of the present application and not intended to limit the present application in any form. Although the present application has been disclosed as the above preferred examples, the present application is not intended to be limited to the above examples. Any person skilled in the art can make some changes or modifications to the above disclosed technical contents without departing from the scope of the present application, and any equivalent examples with slight changes or modifications are still within the scope of the present application.

Claims

1. A method for alerting users to dirt and grime in lidar, characterized in that, Applied to a vehicle equipped with at least one lidar, the method includes: Obtain dirt detection results, wherein the dirt detection results characterize whether at least one detection cycle of the lidar is an abnormal detection cycle, wherein the abnormal detection cycle refers to a detection cycle in which the dirt spot rate is greater than a preset percentage. If the dirt detection results indicate the presence of multiple consecutive abnormal detection cycles, the operating parameters of the vehicle are obtained; based on the operating parameters of the vehicle, the driving scenario of the vehicle is determined. Based on the driving scenario of the vehicle, a dirt reminder strategy for the lidar is determined. The dirt reminder strategy includes: when the driving scenario is a preset scenario, no reminder information is issued. The reminder information is used to remind the user to remove dirt from the surface of the lidar's light-transmitting cover that is away from the laser emitting device. The preset scenario includes at least one of the following: heavy rain scenario and internal fogging scenario. When the operating parameters of the vehicle include the speed parameters of the vehicle, determining the driving scenario of the vehicle based on the operating parameters of the vehicle includes: when the speed parameters of the vehicle are less than a preset speed, determining the driving scenario of the vehicle as a low-speed driving scenario; the dirt reminder strategy further includes: when the driving scenario of the vehicle is the low-speed driving scenario, if there is an obstacle within a preset range corresponding to the vehicle, then the reminder information is not issued.

2. The method according to claim 1, characterized in that, The operating parameters of the vehicle include the windshield wiper setting. Determining the driving scenario of the vehicle based on these operating parameters includes: If the windshield wiper is in the preset operating position, the driving scenario of the vehicle is determined to be a rainstorm scenario.

3. The method according to claim 1, characterized in that, The ambient temperature parameters of the vehicle include a first temperature parameter and a second temperature parameter, wherein the first temperature parameter represents the ambient temperature of the vehicle and the second temperature parameter represents the internal temperature of the lidar. Determining whether the driving scenario of the vehicle is the preset scenario based on the vehicle's operating parameters includes: When the temperature difference between the first temperature parameter and the second temperature parameter is greater than a preset difference, the heating material covering the surface of the lidar is controlled to heat up. After the duration of fever is greater than or equal to the preset duration, the dirt detection results are retrieved again; If the re-acquired dirt detection results indicate that the detection period after heating is not the abnormal detection period, the driving scenario of the vehicle is determined to be an internal fogging scenario.

4. The method according to any one of claims 1 to 3, characterized in that, The process for determining the anomaly detection period includes: The number of abnormal first echo signals of the lidar during the target detection period is obtained. The abnormal first echo signal refers to the first echo signal whose ratio between the actual intensity and the calibrated intensity is greater than a preset value. The first echo signal refers to the echo signal reflected by the laser beam emitted by the laser emitting device through the light-transmitting cover plate. The ratio between the number of abnormal first echo signals and the total number of laser beams emitted by the lidar during the target detection period is determined as the dirt rate of the lidar during the target detection period. If the dirt and grime rate of the lidar during the target detection period is greater than a preset percentage, then the target detection period is determined as the abnormal detection period.

5. The method according to any one of claims 1 to 3, characterized in that, The dirt alert strategy also includes: If the driving scenario of the vehicle is not a preset scenario, a reminder message will be issued.

6. A dirt alert device for use with lidar, characterized in that, The device includes: The result acquisition module is used to acquire dirt detection results. The dirt detection results indicate whether at least one detection cycle of the lidar is an abnormal detection cycle. The abnormal detection cycle refers to a detection cycle in which the dirt spot rate is greater than a preset percentage. The scenario determination module is used to acquire the operating parameters of the vehicle; and based on the operating parameters of the vehicle, determine the driving scenario of the vehicle. The strategy determination module is used to determine the dirt reminder strategy of the lidar based on the driving scenario of the vehicle. The dirt reminder strategy includes: when the driving scenario is a preset scenario, no reminder information is issued. The reminder information is used to remind the user to remove dirt from the surface of the lidar's light-transmitting cover that is away from the laser emitting device. The preset scenario includes at least one of the following: heavy rain scenario and internal fogging scenario. When the operating parameters of the vehicle include the speed parameters of the vehicle, the scene determination module is used to: determine that the driving scene of the vehicle is a low-speed driving scene when the speed parameters of the vehicle are less than a preset speed; the dirt reminder strategy further includes: when the driving scene of the vehicle is the low-speed driving scene, if there is an obstacle within a preset range corresponding to the vehicle, then the reminder information is not issued.

7. A means of transportation, characterized in that, The vehicle includes a processor, a memory, and at least one lidar, the memory storing computer program instructions that are invoked by the processor to execute the dirt alert method applied to the lidar as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program code that is invoked by a processor to execute the dirt alert method for LiDAR as described in any one of claims 1-5.

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