A method and device for arranging vehicle sensors

Abstract

The present invention discloses a layout method and device for vehicle sensors, which first obtains the initial layout plan of the vehicle, responds to the user's adjustment instructions after the control algorithm is updated, obtains the relevant data of the control algorithm on the sensor, and judges whether it is necessary to adjust the position and installation information of the existing sensor, and finally adjusts the sensor layout plan of the autonomous driving vehicle according to the judgment result. The technical solution of the present invention can realize the automatic completion of the layout of the whole vehicle sensor, avoid repeated design, reduce labor costs, and improve layout and development efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle design, and in particular to a layout method and device of vehicle sensors. Background Art

[0002] Autonomous driving vehicles need to rely on multiple sensors to collect external data for subsequent intelligent control. When designing a vehicle, the sensor installation location, installation type, and installation quantity of the vehicle will be estimated in advance, and a preliminary vehicle sensor layout plan will be designed. Different layout plans need to be designed for different models. In addition, in order to achieve more intelligent control, sensors of the same or different types need to be used in conjunction with each other, resulting in the need to redesign the layout of the vehicle's sensors when the control strategy or control algorithm is updated.

[0003] In the existing technology, manual intervention or design is performed. If the control strategy or algorithm needs to be tested or updated multiple times, manual debugging or redesign of the entire vehicle is required, which increases labor costs and reduces testing efficiency and development efficiency. Summary of the invention

[0004] The embodiments of the present invention provide a vehicle sensor layout method and device, which can automatically complete the layout of the entire vehicle sensor and improve the layout and development efficiency.

[0005] An embodiment of the present invention provides a method for arranging vehicle sensors, comprising:

[0006] Obtaining a current vehicle sensor layout scheme of the autonomous driving vehicle, and generating first sensor data corresponding to each category according to the information of each sensor in the vehicle sensor layout scheme; wherein each first sensor data includes the number of sensors of the category, location information on the vehicle, and installation information;

[0007] In response to the user's adjustment instruction, obtain the second sensor data corresponding to the updated control algorithm; wherein the second sensor data includes: the number of sensors required by the control algorithm, the category of each sensor, the matching relationship of each sensor, and the use restriction of each sensor in the control algorithm;

[0008] According to the second sensor data, query the first sensor data corresponding to each category to determine whether there are corresponding sensors for each sensor required by the control algorithm;

[0009] When all of them exist, the position information and installation information of each sensor on the autonomous driving vehicle are adjusted according to the coordination relationship, the usage restrictions, and the position information and installation information in each first sensor data, thereby adjusting the sensor layout plan of the autonomous driving vehicle.

[0010] Furthermore, after determining whether corresponding sensors exist for all sensors required by the control algorithm, the method further includes:

[0011] When the corresponding sensors do not exist for all sensors required by the control algorithm, all the second sensor data found are used as the third sensor data, and all the second sensor data not found are used as the fourth sensor data;

[0012] Adjust the position information and installation information of each third sensor on the autonomous driving vehicle according to the matching usage relationship, usage restrictions, and the position information and installation information of each first sensor in the third sensor data;

[0013] According to the category and quantity of sensors in the fourth sensor data, corresponding fourth sensors are added to the autonomous driving vehicle, and according to the matching usage relationship and usage restrictions in the fourth sensor data, the location information and installation information of each fourth sensor on the autonomous driving vehicle are determined.

[0014] Further, after determining the location information and installation information of each fourth sensor on the autonomous driving vehicle, the method further includes:

[0015] querying whether there is data matching the location information of the fourth sensor in each of the first sensor data;

[0016] If so, deleting the matching first sensor data in the sensor layout scheme, and updating and adjusting the sensor layout scheme of the autonomous driving vehicle;

[0017] If not present, the sensor layout plan of the autonomous driving vehicle is updated according to the position information and installation information of each fourth sensor on the autonomous driving vehicle and the adjusted position information and installation information of the third sensor on the autonomous driving vehicle.

[0018] Furthermore, the adjusting the position information and installation information of each sensor on the autonomous driving vehicle according to the coordinated use relationship, the use restriction, and the position information and installation information in each first sensor data is specifically as follows:

[0019] Calculating position adjustment information and installation adjustment information of each sensor according to the matching use relationship and the use restriction;

[0020] According to the position adjustment information and installation adjustment information of each sensor, the position information and installation information in the first sensor data are adjusted, thereby adjusting the position information and installation information of each sensor on the autonomous driving vehicle.

[0021] Furthermore, sensor categories include: optical sensors, acoustic sensors, image acquisition sensors, communication sensors and mechanical sensors.

[0022] Correspondingly, another embodiment of the present invention provides a layout device for vehicle sensors, including: a first acquisition module, a second acquisition module, a judgment module and a first adjustment module;

[0023] The first acquisition module is used to acquire the current vehicle sensor layout scheme of the autonomous driving vehicle, and generate first sensor data corresponding to each category according to the sensor information in the vehicle sensor layout scheme; wherein each first sensor data includes the number of sensors of the category, location information on the vehicle, and installation information;

[0024] The second acquisition module is used to respond to the user's adjustment instruction and acquire the second sensor data corresponding to the updated control algorithm; wherein the second sensor data includes: the number of sensors required by the control algorithm, the category of each sensor, the matching relationship of each sensor, and the use restriction of each sensor in the control algorithm;

[0025] The judgment module is used to query the first sensor data corresponding to each category according to the second sensor data, and judge whether there are corresponding sensors for each sensor required by the control algorithm;

[0026] The first adjustment module is used to adjust the position information and installation information of each sensor on the autonomous driving vehicle according to the coordination relationship, the usage restrictions, and the position information and installation information in each first sensor data when the judgment module determines that all of them exist, thereby adjusting the sensor layout plan of the autonomous driving vehicle.

[0027] Furthermore, the layout device of the vehicle sensor further includes: a determination module, a second adjustment module and a third adjustment module;

[0028] Wherein, the determination module is used to use all the queried second sensor data as the third sensor data and use all the second sensor data that are not queried as the fourth sensor data when the judgment module determines that they are not all present;

[0029] The second adjustment module is used to adjust the position information and installation information of each third sensor on the autonomous driving vehicle according to the matching usage relationship, usage restrictions, and the position information and installation information of each first sensor in the third sensor data;

[0030] The third adjustment module is used to add corresponding fourth sensors to the autonomous driving vehicle according to the category and quantity of sensors in the fourth sensor data, and to determine the location information and installation information of each fourth sensor on the autonomous driving vehicle according to the matching usage relationship and usage restrictions in the fourth sensor data.

[0031] Furthermore, the layout device of the vehicle sensor further comprises: a query module, a first update module and a second update module;

[0032] The query module is used to query whether there is data matching the location information of the fourth sensor in each first sensor data;

[0033] The first updating module is used to delete the matching first sensor data in the sensor layout scheme when the query module determines that it exists, and update and adjust the sensor layout scheme of the autonomous driving vehicle;

[0034] The second update module is used to update the sensor layout plan of the autonomous driving vehicle according to the location information and installation information of each fourth sensor on the autonomous driving vehicle and the adjusted location information and installation information of the third sensor on the autonomous driving vehicle when the query module determines that it does not exist.

[0035] Furthermore, the first adjustment module is specifically used for:

[0036] Calculating position adjustment information and installation adjustment information of each sensor according to the matching use relationship and the use restriction;

[0037] According to the position adjustment information and installation adjustment information of each sensor, the position information and installation information in the first sensor data are adjusted, thereby adjusting the position information and installation information of each sensor on the autonomous driving vehicle.

[0038] As can be seen from the above, the present invention provides a method and device for the layout of vehicle sensors, which first obtains the initial layout plan of the vehicle, responds to the user's adjustment instructions after the control algorithm is updated, obtains the relevant data of the control algorithm on the sensor, and uses this to determine whether it is necessary to adjust the position and installation information of the existing sensors, and finally adjusts the sensor layout plan of the autonomous driving vehicle according to the judgment result. Compared with the existing technology that requires manual adjustment, the technical solution of the present invention can automatically complete the layout of the entire vehicle's sensors, avoid repeated design, reduce labor costs, and improve layout and development efficiency.

[0039] Furthermore, when the embodiment of the present invention is inquiring, if it is found that the sensor required by the algorithm does not exist in the existing layout plan, the sensor to be newly added is first screened out, and the corresponding fourth sensor is first configured on the autonomous driving vehicle. Then, according to the matching usage relationship and usage restrictions, the location information and installation information of the newly added sensor are determined, so that the present invention can be applied to different vehicles, and the improvement of the algorithm is no longer limited to software, further improving the practicality and applicability of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flow chart of an embodiment of a method for arranging vehicle sensors provided by the present invention;

[0041] Figure 2 is a flow chart of another embodiment of the method for arranging vehicle sensors provided by the present invention;

[0042] Figure 3 It is a schematic diagram of sensor arrangement and application provided by the present invention;

[0043] Figure 4 is another schematic diagram of sensor arrangement and application provided by the present invention;

[0044] Figure 5 It is a structural schematic diagram of an embodiment of a layout device of vehicle sensors provided by the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of an embodiment of the method for arranging vehicle sensors provided by the present invention. Figure 1 As shown, the specific steps are as follows:

[0047] Step 101: Obtain the current vehicle sensor layout plan of the autonomous driving vehicle, and generate first sensor data corresponding to each category based on the sensor information in the vehicle sensor layout plan; wherein each first sensor data includes the number of sensors of this category, location information on the vehicle, and installation information.

[0048] In this embodiment, the vehicle sensor layout plan of the autonomous driving vehicle will form an initial layout plan when the vehicle is designed, but in the continuous research and development process, these layout plans will be continuously updated, and in addition to the reasons of hardware structure, more adjustments are made to serve the update needs of control strategies and software algorithms. For example, when the algorithm has requirements for a certain measurement direction, measurement position, and measurement distance, but the type and number of sensors in the existing layout cannot meet them, it is necessary to adjust the layout plan of the entire vehicle. On this basis, the present invention can extract the first sensor data corresponding to each category of sensor according to the initial layout plan or the last adjusted layout plan. The first sensor data may include, but is not limited to, the number of sensors of this category, the location information on the vehicle, and the installation information. In addition, the first sensor data may also include the existing coordination relationship of each sensor, reflecting the correlation between the sensors.

[0049] In this embodiment, the sensor categories may include, but are not limited to: optical sensors, acoustic sensors, image acquisition sensors, communication sensors, and mechanical sensors. Among them, optical sensors are sensors that use lasers, natural light, infrared light, etc. as measurement media, such as laser radars, optical ranging sensors, etc. Acoustic sensors are sensors that use sound and sound waves as measurement media, such as ultrasonic radars, infrasonic radars, etc. Image acquisition sensors refer to sensors that collect information through images and videos, such as cameras, cameras, and video shooting equipment. Communication sensors refer to devices used for the transmission or collection of network signals and communication signals, such as GPS devices, antennas, wireless devices, etc. Mechanical sensors are sensors that use force in physics as the measurement principle, such as gravity sensors, angle measurement sensors, magnetic sensors, etc.

[0050] In this embodiment, according to the initial sensor layout scheme, the information of each sensor is extracted, which can be but not limited to forming a sensor database, and the database divides the sensors by category, and each category corresponds to a first sensor data. Different models can correspond to different databases, thereby improving the applicability of the present invention.

[0051] Step 102: Respond to the user's adjustment instruction and obtain second sensor data corresponding to the updated control algorithm; wherein the second sensor data includes: the number of sensors required for the control algorithm, the category of each sensor, the coordination relationship of each sensor, and the usage restrictions of each sensor in the control algorithm.

[0052] In this embodiment, the adjustment of the sensor layout scheme is mainly triggered by the adjustment instructions input by the user. The triggering time is that after the control algorithm is updated, the user needs to adjust the sensors of the whole vehicle, and it is triggered by inputting the adjustment instructions. After the trigger, the corresponding second sensor data can be extracted from the updated control algorithm, or the second sensor data can be extracted from the adjustment instructions input by the user. The second sensor data only records the data of the sensor corresponding to the control algorithm to be updated this time, including the quantity, the category, whether there is a cooperative use relationship between the sensors, and the use restrictions. The cooperative use relationship is used to indicate whether there is a cooperative use between two or more sensors in the control algorithm, such as requiring two sensors to collect data of the same object at the same time, or multiple sensors to collect data of different objects at the same time. The use restrictions may be, but are not limited to, data collection range, data collection accuracy, operating environment, whether there is a connection relationship with other components, measurement direction, etc.

[0053] Step 103: According to the second sensor data, query the first sensor data corresponding to each category to determine whether corresponding sensors exist for each sensor required by the control algorithm.

[0054] In this embodiment, the acquired second sensor data includes the category to which it belongs and the corresponding number of sensors. First, through the above two data, it is queried whether there is a corresponding sensor in the first sensor data corresponding to each category to complete the initial query. Then, according to the matching relationship and usage restrictions, it is screened in the initial query whether there is a corresponding sensor on the vehicle to complete the secondary query. For example, when the control algorithm requires 6 ultrasonic radars arranged in the front area of ​​the vehicle, it is found out whether there is corresponding first sensor data according to the ultrasonic radar. If it exists, it is judged whether the number of sensors in the first sensor data of this category reaches 6 or more. If all are satisfied, the initial query is passed. According to the matching relationship and usage restrictions of the control algorithm for these 6 ultrasonic radars, it can be known that they are to be arranged at the front of the vehicle, and each sensor corresponds to a measurement area, and 6 measurement areas constitute the entire front area. Then, the location information and installation information of the first sensor data of the acoustic category are queried to know whether the current layout meets the requirements of the control algorithm and whether the sensors exist one by one.

[0055] Step 104: If all of them exist, the position information and installation information of each sensor on the autonomous driving vehicle is adjusted according to the coordination relationship, the usage restriction, and the position information and installation information in each first sensor data, thereby adjusting the sensor layout plan of the autonomous driving vehicle.

[0056] In this embodiment, if all of them exist, it means that this algorithm adjustment tends to be a software update and optimization, and the adjustment of the sensor belongs to fine-tuning, such as adjusting the measurement area of ​​the sensor, changing the type of sensor to meet the data collection accuracy required by the algorithm, etc. No sensors of the entire vehicle are added or deleted.

[0057] In this embodiment, step 104 is specifically as follows: according to the matching use relationship and the use restriction, calculate the position adjustment information and installation adjustment information of each sensor; according to the position adjustment information and installation adjustment information of each sensor, adjust the position information and installation information in the first sensor data, thereby adjusting the position information and installation information of each sensor on the autonomous driving vehicle. The adjustment of this implementation requires first calculating the position adjustment information and installation adjustment information, extracting the measurement range and measurement accuracy requirements of the sensor according to the matching use relationship and the use restriction, and then extracting the actual measurement range and actual measurement accuracy of the sensor from the original layout plan. By comparison, it can be known whether the position and installation information need to be adjusted. If necessary, the corresponding adjustment information can be calculated, and then the sensors on the vehicle are adjusted according to the position adjustment information and installation adjustment information.

[0058] It should be noted that, since the control algorithm updated this time may not use all sensors of the entire vehicle, when adjusting, no adjustment is made to the sensors that are not used, which reduces the amount of data calculation and improves the practicality of the present invention.

[0059] As an example of this embodiment, see Figure 2 , Figure 2 It is a flow chart of another embodiment of the method for arranging vehicle sensors provided by the present invention. Figure 2 and Figure 1 The difference is that after step 103, it also includes steps 205 to 207, and each step is as follows:

[0060] Step 205: When corresponding sensors do not exist for all sensors required by the control algorithm, all the second sensor data found are used as third sensor data, and all the second sensor data not found are used as fourth sensor data.

[0061] Step 206: Adjust the position information and installation information of each third sensor on the autonomous driving vehicle according to the coordination relationship, usage restrictions, position information and installation information of each first sensor in the third sensor data.

[0062] In this example, the third sensor in step 206 is a corresponding sensor that has been queried, and the principle of its adjustment can be but is not limited to the content recorded in step 104.

[0063] Step 207: According to the category and quantity of sensors in the fourth sensor data, corresponding fourth sensors are added to the autonomous driving vehicle, and according to the matching usage relationship and usage restrictions in the fourth sensor data, the location information and installation information of each fourth sensor on the autonomous driving vehicle are determined.

[0064] In this example, the fourth sensor data corresponds to a sensor that cannot be found on the vehicle, so the sensor is first completed according to the category and quantity, and the corresponding fourth sensor is added. The newly added sensor is temporarily not associated with the original sensor, so the location information and installation information of the fourth sensor can be determined based on the usage coordination relationship and usage restrictions.

[0065] In this example, after determining the location information and installation information of the fourth sensor on the autonomous driving vehicle, the following further includes:

[0066] querying whether there is data matching the location information of the fourth sensor in each of the first sensor data;

[0067] If so, deleting the matching first sensor data in the sensor layout scheme, and updating and adjusting the sensor layout scheme of the autonomous driving vehicle;

[0068] If not present, the sensor layout plan of the autonomous driving vehicle is updated according to the position information and installation information of each fourth sensor on the autonomous driving vehicle and the adjusted position information and installation information of the third sensor on the autonomous driving vehicle.

[0069] In this example, due to the fusion of the new sensor and the existing sensor, there are two situations. The first situation is that the new sensor is actually matched with an old sensor, but it is not queried and identified in the above steps, but has matching position information (the position information may not be exactly the same, there is a partial deviation, because the position of the new sensor is the adjusted position, but the two position information are matched). For example, both are set in the center of the front of the car, and both are set in the same position such as the left door. By querying the position information, the fourth sensor can be reclassified, the matching first sensor data can be deleted, and the fourth sensor data can replace the deleted first sensor data, completing the adjustment and update of the sensor layout plan of the autonomous driving vehicle.

[0070] As for the fourth sensor that has no match, it means that it is not set in the original layout plan and there is no problem of unrecognition. Therefore, it can be used as new data, combined with the position information and installation information of the adjusted third sensor on the autonomous driving vehicle, to update the sensor layout plan of the autonomous driving vehicle.

[0071] In this embodiment, if Figure 3 and Figure 4 As shown in the figure, two different sensor arrangement solutions are provided. Figure 3 In the medium sensor layout scheme, the EyeQ3 is arranged on the roof, the ultrasonic radar is arranged around the main body of the car, the GPS antenna is arranged at three positions on the roof, the surround-view camera 200H is arranged on the two rearview mirrors and the front and rear ends of the car, and the combined navigation sensor is arranged on the front end of the vehicle and the trunk. Figure 4 The ultrasonic radars of the medium sensor layout scheme are concentrated on the front and rear surrounds of the vehicle, and a small number are arranged on both sides of the vehicle near the front and rear ends. The GPS antenna is arranged at three positions on the roof, and the CDS is arranged on the trunk. The combined navigation sensor is arranged at the front end of the vehicle and the trunk. The MDC is arranged on the roof and the trunk respectively. The front-view camera is arranged at the end of the roof close to the front of the vehicle, and the rear-view camera is arranged at the end of the roof close to the rear of the vehicle. The MINI EYE is arranged in front of the driving platform. The surround-view camera 200H is arranged on the two rearview mirrors and the front and rear ends of the vehicle. The ARS408 is arranged at the front end of the vehicle and the taillights. The solid-state laser radar is arranged at the front end of the vehicle.

[0072] It can be seen that this example is suitable for control algorithms that have major changes to sensor hardware. For example, when optimizing a control algorithm, higher requirements or simplified requirements are placed on the sensor layout, which will change the number, type, location information, and installation information of the vehicle's sensors. Through the layout method of this example, fine-tuning is performed on sensors that do not need to be changed, and adding sensors that need to be added is performed. After combining, a new sensor layout plan is automatically formed, reducing labor costs and improving development efficiency.

[0073] Accordingly, see Figure 5 , Figure 5 3 is a schematic diagram of a structure of an embodiment of a layout device of vehicle sensors provided by the present invention. The layout device comprises: a first acquisition module 301 , a second acquisition module 302 , a judgment module 303 and a first adjustment module 304 .

[0074] Among them, the first acquisition module 301 is used to obtain the current vehicle sensor layout plan of the autonomous driving vehicle, and generate the first sensor data corresponding to each category based on the sensor information in the vehicle sensor layout plan; wherein each first sensor data includes the number of sensors of this category, location information on the vehicle and installation information.

[0075] The second acquisition module 302 is used to respond to the user's adjustment instruction and acquire the second sensor data corresponding to the updated control algorithm; wherein the second sensor data includes: the number of sensors required by the control algorithm, the category of each sensor, the matching relationship of each sensor, and the use restriction of each sensor in the control algorithm;

[0076] The judgment module 303 is used to query the first sensor data corresponding to each category according to the second sensor data, and judge whether there are corresponding sensors for each sensor required by the control algorithm;

[0077] The first adjustment module 304 is used to adjust the position information and installation information of each sensor on the autonomous driving vehicle according to the coordination relationship, the usage restrictions, and the position information and installation information in each first sensor data when the judgment module determines that all of them exist, thereby adjusting the sensor layout plan of the autonomous driving vehicle.

[0078] As an example of this embodiment, the layout device further includes: a determination module, a second adjustment module, a third adjustment module, a query module, a first update module and a second update module.

[0079] The determination module is used for taking all the queried second sensor data as the third sensor data and taking all the second sensor data that are not queried as the fourth sensor data when the judgment module determines that they are not all present.

[0080] The second adjustment module is used to adjust the position information and installation information of each third sensor on the autonomous driving vehicle according to the coordination relationship, usage restrictions, and the position information and installation information of each first sensor in the third sensor data.

[0081] The third adjustment module is used to add corresponding fourth sensors to the autonomous driving vehicle according to the category and quantity of sensors in the fourth sensor data, and determine the location information and installation information of each fourth sensor on the autonomous driving vehicle according to the matching usage relationship and usage restrictions in the fourth sensor data.

[0082] The query module is used to query whether there is data matching the location information of the fourth sensor in each first sensor data.

[0083] The first update module is used to delete the matching first sensor data in the sensor layout plan when the query module determines that it exists, and update and adjust the sensor layout plan of the autonomous driving vehicle.

[0084] The second update module is used to update the sensor layout plan of the autonomous driving vehicle according to the location information and installation information of each fourth sensor on the autonomous driving vehicle and the adjusted location information and installation information of the third sensor on the autonomous driving vehicle when the query module determines that it does not exist.

[0085] In this embodiment, the first adjustment module 303 is specifically used to calculate the position adjustment information and installation adjustment information of each sensor according to the coordination relationship and the usage restriction; according to the position adjustment information and installation adjustment information of each sensor, adjust the position information and installation information in the first sensor data, so as to adjust the position information and installation information of each sensor on the autonomous driving vehicle.

[0086] As can be seen from the above, the present invention provides a method and device for the layout of vehicle sensors, which first obtains the initial layout plan of the vehicle, responds to the user's adjustment instructions after the control algorithm is updated, obtains the relevant data of the control algorithm on the sensor, and uses this to determine whether it is necessary to adjust the position and installation information of the existing sensors, and finally adjusts the sensor layout plan of the autonomous driving vehicle according to the judgment result. Compared with the existing technology that requires manual adjustment, the technical solution of the present invention can automatically complete the layout of the entire vehicle's sensors, avoid repeated design, reduce labor costs, and improve layout and development efficiency.

[0087] Furthermore, when the embodiment of the present invention is inquiring, if it is found that the sensor required by the algorithm does not exist in the existing layout plan, the sensor to be newly added is first screened out, and the corresponding fourth sensor is first configured on the autonomous driving vehicle. Then, according to the matching usage relationship and usage restrictions, the location information and installation information of the newly added sensor are determined, so that the present invention can be applied to different vehicles, and the improvement of the algorithm is no longer limited to software, further improving the practicality and applicability of the present invention.

[0088] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0089] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for arranging vehicle sensors, characterized in that: include: Obtaining a current vehicle sensor layout scheme of the autonomous driving vehicle, and generating first sensor data corresponding to each category according to the information of each sensor in the vehicle sensor layout scheme; wherein each first sensor data includes the number of sensors of the category, location information on the vehicle, and installation information; In response to the user's adjustment instruction, obtain the second sensor data corresponding to the updated control algorithm; wherein the second sensor data includes: the number of sensors required by the control algorithm, the category of each sensor, the matching relationship of each sensor, and the use restriction of each sensor in the control algorithm; According to the second sensor data, query the first sensor data corresponding to each category to determine whether there are corresponding sensors for each sensor required by the control algorithm; If all of them exist, the position information and installation information of each sensor on the autonomous driving vehicle are adjusted according to the coordinated use relationship, the use restriction, and the position information and installation information in each first sensor data, thereby adjusting the sensor layout plan of the autonomous driving vehicle; When corresponding sensors do not exist for all sensors required by the control algorithm, all the queried second sensor data will be used as third sensor data, and the position information and installation information of each third sensor on the autonomous driving vehicle will be adjusted according to the coordination relationship, usage restrictions, and position information and installation information of each first sensor in the third sensor data.

2. The vehicle sensor layout method according to claim 1, characterized in that: When the corresponding sensors are not all present for the sensors required by the control algorithm, all the second sensor data not found are used as the fourth sensor data; According to the category and quantity of sensors in the fourth sensor data, corresponding fourth sensors are added to the autonomous driving vehicle, and according to the matching usage relationship and usage restrictions in the fourth sensor data, the location information and installation information of each fourth sensor on the autonomous driving vehicle are determined.

3. The method for arranging vehicle sensors according to claim 2, characterized in that: After determining the position information and installation information of each fourth sensor on the autonomous driving vehicle, the method further includes: querying whether there is data matching the location information of the fourth sensor in each of the first sensor data; If so, deleting the matching first sensor data in the sensor layout scheme, and updating and adjusting the sensor layout scheme of the autonomous driving vehicle; If not present, the sensor layout plan of the autonomous driving vehicle is updated according to the position information and installation information of each fourth sensor on the autonomous driving vehicle and the adjusted position information and installation information of the third sensor on the autonomous driving vehicle.

4. The method for arranging vehicle sensors according to claim 1, characterized in that: The adjusting the position information and installation information of each sensor on the autonomous driving vehicle according to the coordinated use relationship, the use restriction, and the position information and installation information in each first sensor data is specifically: Calculating position adjustment information and installation adjustment information of each sensor according to the matching use relationship and the use restriction; According to the position adjustment information and installation adjustment information of each sensor, the position information and installation information in the first sensor data are adjusted, thereby adjusting the position information and installation information of each sensor on the autonomous driving vehicle.

5. The method for arranging vehicle sensors according to any one of claims 1 to 4, characterized in that: Sensor categories include: optical sensors, acoustic sensors, image acquisition sensors, communication sensors and mechanical sensors.

6. A layout device for vehicle sensors, characterized in that: include: A first acquisition module, a second acquisition module, a judgment module and a first adjustment module; The first acquisition module is used to acquire the current vehicle sensor layout scheme of the autonomous driving vehicle, and generate first sensor data corresponding to each category according to the sensor information in the vehicle sensor layout scheme; wherein each first sensor data includes the number of sensors of the category, location information on the vehicle, and installation information; The second acquisition module is used to respond to the user's adjustment instruction and acquire the second sensor data corresponding to the updated control algorithm; wherein the second sensor data includes: the number of sensors required by the control algorithm, the category of each sensor, the matching relationship of each sensor, and the use restriction of each sensor in the control algorithm; The judgment module is used to query the first sensor data corresponding to each category according to the second sensor data, and judge whether there are corresponding sensors for each sensor required by the control algorithm; The first adjustment module is used to adjust the position information and installation information of each sensor on the autonomous driving vehicle according to the coordinated use relationship, the use restriction, and the position information and installation information in each first sensor data when the judgment module determines that all of them exist, thereby adjusting the sensor layout plan of the autonomous driving vehicle; a determination module, the determination module being used to use all the queried second sensor data as the third sensor data when the judgment module determines that all the second sensor data do not exist; The second adjustment module is used to adjust the position information and installation information of each third sensor on the autonomous driving vehicle according to the coordination relationship, usage restrictions, and the position information and installation information of each first sensor in the third sensor data.

7. The layout device of vehicle sensors according to claim 6, characterized in that: Also includes: The third adjustment module; The determination module is further used to use the second sensor data that has not been queried as the fourth sensor data; The third adjustment module is used to add corresponding fourth sensors to the autonomous driving vehicle according to the category and quantity of sensors in the fourth sensor data, and to determine the location information and installation information of each fourth sensor on the autonomous driving vehicle according to the matching usage relationship and usage restrictions in the fourth sensor data.

8. The arrangement device of vehicle sensors according to claim 7, characterized in that: Also includes: A query module, a first update module, and a second update module; The query module is used to query whether there is data matching the location information of the fourth sensor in each first sensor data; The first updating module is used to delete the matching first sensor data in the sensor layout scheme when the query module determines that it exists, and update and adjust the sensor layout scheme of the autonomous driving vehicle; The second update module is used to update the sensor layout plan of the autonomous driving vehicle according to the location information and installation information of each fourth sensor on the autonomous driving vehicle and the adjusted location information and installation information of the third sensor on the autonomous driving vehicle when the query module determines that it does not exist.

9. The arrangement device of vehicle sensors according to claim 6, characterized in that: The first adjustment module is specifically used for: Calculating position adjustment information and installation adjustment information of each sensor according to the matching use relationship and the use restriction; According to the position adjustment information and installation adjustment information of each sensor, the position information and installation information in the first sensor data are adjusted, thereby adjusting the position information and installation information of each sensor on the autonomous driving vehicle.

10. The arrangement device of vehicle sensors according to any one of claims 6 to 9, characterized in that: Sensor categories include: optical sensors, acoustic sensors, image acquisition sensors, communication sensors and mechanical sensors.

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