A vehicle lidar control system and control method

Abstract

The present invention relates to a vehicle lidar control system and a control method. The control system includes: a weather condition determination unit and a lidar control unit; the weather condition determination unit receives weather information according to time and positioning information, and determines the weather condition level corresponding to the weather information according to a set rule; the lidar control unit stores a correspondence table between the weather condition level and the lidar working mode, in which the worse the weather, the lower the working power consumption of the lidar. The scanning range and power of the vehicle lidar are adjusted according to the current weather condition level and the correspondence table; it can solve the problems of mis-matching and accuracy degradation caused by the lidar in bad weather, and can also save electric energy and improve the endurance of new energy vehicles.

Description

Technical Field

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

[0002] In rainy days, snowy days, foggy and dusty weather, the accuracy of lidar will decrease. Floating dust and rainwater in the air will reflect the laser back, resulting in misidentification of the lidar. Therefore, at this time, the lidar is prone to errors whether in positioning or sensing.

[0003] In the existing solutions, a fusion method is used to reduce the error brought by the lidar to the positioning system here, but it is still prone to errors, and the processing of the lidar body and point cloud will increase the energy consumption of the positioning system and reduce the cruising range of new energy vehicles. Summary of the Invention

[0004] In view of the technical problems existing in the prior art, the present invention provides a vehicle lidar control system and a control method, which can solve the problems of mis-matching and accuracy degradation caused by lidar in bad weather, save electric energy, and improve the cruising ability of new energy vehicles.

[0005] According to a first aspect of the present invention, there is provided a vehicle lidar control system, including: a weather state determination unit and a lidar control unit;

[0006] The weather state determination unit receives weather information according to time and positioning information, and determines the weather state level corresponding to the weather information according to a set rule;

[0007] The lidar control unit stores a correspondence table between weather state levels and lidar working modes. In the correspondence table, the worse the weather, the lower the working power consumption of the lidar. The scanning range and power of the vehicle lidar are adjusted according to the current weather state level and the correspondence table.

[0008] Based on the above technical solutions, the present invention can also be improved as follows.

[0009] Optionally, the weather determination includes a weather monitoring module, a weather recognition and perception module, and a weather state determination module;

[0010] The weather monitoring module obtains the current weather forecast for the current position of the vehicle submitted by the positioning module and the time period of a future set duration through the network, and determines the weather type and the corresponding weather type state level according to a set rule;

[0011] The weather recognition and perception module obtains an image of the current environment through a camera, analyzes the image through a CNN network to obtain weather information, and determines the weather type and the corresponding weather type status level according to set rules;

[0012] The weather status judgment module fuses the weather monitoring module and the weather recognition and perception module to determine the weather type and the corresponding weather type status level, and outputs the weather status level according to set rules.

[0013] Optionally, the weather types include: rain, snow, fog, dust, and none; the weather type status levels include: severe, medium, and minor.

[0014] Optionally, the weather status levels output by the weather status judgment module include: normal weather, slightly severe weather, moderately severe weather, and severe weather.

[0015] Optionally, the lidar working modes in the corresponding table stored in the lidar control unit include: normal state, medium power consumption state, low power consumption state, and off state;

[0016] The lidar control unit adjusts the scanning range and power of the vehicle's lidar, including: adjusting the working modes of the positioning module and the planning control strategy adjustment module according to the lidar working mode.

[0017] Optionally, the lidar control unit adjusts the working mode of the positioning module, including: adjusting the weight and related parameters of the lidar in the positioning module, including: scanning range adjustment, dynamic adjustment of confidence, and turning off the lidar processing module.

[0018] Optionally, the lidar control unit adjusts the working mode of the planning control strategy adjustment module, including: controlling the area of the drivable area, lane change strategy, vehicle speed, and acceleration and deceleration;

[0019] When the lidar working mode is the normal state, the thresholds of the drivable area, lane change strategy, vehicle speed, and acceleration and deceleration are all set normally;

[0020] When the lidar working mode is the medium power consumption state, the maximum vehicle speed and the maximum acceleration and deceleration thresholds are reduced on the basis of the normal state;

[0021] When the lidar working mode is the low power consumption state, complex scenarios are removed from the drivable area, and on the basis of the medium power consumption state, the maximum vehicle speed and the maximum acceleration and deceleration thresholds are reduced, and the lane change judgment threshold is increased;

[0022] When the lidar is in the off working mode, based on the low-power state, reduce the drivable area, decrease the thresholds of the maximum vehicle speed and maximum acceleration, and increase the threshold value for lane change judgment.

[0023] According to a second aspect of the present invention, there is provided a vehicle lidar control method, including: Step 1, report the position information and current time information of the vehicle, query the weather condition in a preset time period in the future for the position information, and determine the weather state level corresponding to the weather information according to a set rule; Step 2, establish a correspondence table between the weather state level and the lidar working mode, where the worse the weather in the correspondence table, the lower the working power consumption of the lidar, and adjust the scanning range and power of the vehicle lidar according to the current weather state level and the correspondence table; Step 3, periodically repeat Steps 1-2 at set times.

[0024] According to a third aspect of the present invention, there is provided an electronic device, including a memory and a processor, and when the processor executes a computer management program stored in the memory, it implements the steps of the vehicle lidar control system and control method.

[0025] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium, on which a computer management program is stored, and when the computer management program is executed by a processor, it implements the steps of the vehicle lidar control system and control method.

[0026] A vehicle lidar control system, control system, method, electronic device and storage medium provided by the present invention can automatically adjust the power state of the lidar, adjust the scanning range of the lidar when detecting rainy, snowy, foggy or dusty weather, and then fuse GPS, IMU, wheel odometer and camera for positioning, and also make corresponding changes to the planning control module; it can solve the problem that the lidar accuracy is reduced and the misrecognition probability increases due to weather reasons, resulting in errors in the entire positioning system, improve the safety factor of vehicle motion control, and save electric energy, which is very beneficial for current intelligent new energy vehicles. Description of the Drawings

[0027] Figure 1 It is a structural block diagram of a vehicle lidar control system provided by the present invention;

[0028] Figure 2 It is a structural block diagram of an embodiment of a vehicle lidar control system provided by the present invention;

[0029] Figure 3 It is a working flow chart of a weather state determination unit provided by an embodiment of the present invention;

[0030] Figure 4 Block diagram of the weather condition determination unit provided by an embodiment of the present invention;

[0031] Figure 5 Schematic diagram of the hardware structure of a possible electronic device provided by the present invention;

[0032] Figure 6 Schematic diagram of the hardware structure of a possible computer-readable storage medium provided by the present invention. Detailed implementation manners

[0033] The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0034] Figure 1 Block diagram of a vehicle lidar control system provided by the present invention, as Figure 1 shown, the control system includes: a weather condition determination unit and a lidar control unit;

[0035] The weather condition determination unit receives weather information according to time and positioning information, and determines the weather condition level corresponding to the weather information according to the set rules.

[0036] The lidar control unit stores a correspondence table between the weather condition level and the lidar working mode. In the correspondence table, the worse the weather, the lower the working power consumption of the lidar. The scanning range and power of the vehicle's lidar are adjusted according to the current weather condition level and the correspondence table.

[0037] A vehicle lidar control system provided by the present invention can solve the problems of false matching and accuracy degradation caused by lidar in bad weather, and can also save electric energy and improve the endurance of new energy vehicles.

[0038] Embodiment 1

[0039] Embodiment 1 provided by the present invention is an embodiment of a vehicle lidar control system provided by the present invention, as Figure 2 Block diagram of an embodiment of a vehicle lidar control system provided by the present invention. Combining Figure 1 and Figure 2 it can be seen that the embodiment of the control system includes: a weather condition determination unit and a lidar control unit.

[0040] The weather condition determination unit receives weather information according to time and positioning information, and determines the weather condition level corresponding to the weather information according to the set rules.

[0041] As Figure 3 shown is the work flow chart of the weather condition determination unit provided by an embodiment of the present invention, as Figure 4The structural block diagram of the weather condition determination unit provided by the embodiment of the present invention is shown, in combination with Figure 1 - Figure 4 It can be seen that the weather determination includes a weather monitoring module, a weather recognition and perception module, and a weather condition judgment module.

[0042] The weather monitoring module obtains the current location of the vehicle submitted by the positioning module, and obtains the weather forecast for the current location and the time period of the future set duration through the network, and determines the weather type and the corresponding weather type status level according to the set rules.

[0043] Specifically, the positioning module can be a GPS module.

[0044] The weather recognition and perception module obtains an image of the current environment through a camera, analyzes the image through a cnn network to obtain weather information, and determines the weather type and the corresponding weather type status level according to the set rules; the output result of the weather recognition and perception module is of the same type as that of the weather monitoring module.

[0045] The weather condition judgment module fuses the weather monitoring module and the weather recognition and perception module to determine the weather type and the corresponding weather type status level, and outputs the weather condition level according to the set rules.

[0046] In a possible embodiment, the weather types include: rain, snow, fog, dust, and none (that is, not the previous four states); the weather type status levels include: severe, medium, and mild, which are used to indicate the severity of the weather condition.

[0047] In a possible embodiment, the weather condition levels output by the weather condition judgment module include: general weather, slightly severe weather, moderately severe weather, and severe weather.

[0048] In specific implementation, the weather condition judgment module comprehensively confirms the weather condition and degree, and outputs the final weather condition and degree. Finally, four results are output: general weather, slightly severe weather, moderately severe weather, and severe weather. These four results can set different formulation standards according to the influence of different weather types on the lidar. These four results are determined according to the influence degree of the weather on the lidar. The influences of the four results on the lidar performance are: no influence, slight influence, moderate influence, and severe influence.

[0049] The lidar control unit stores a correspondence table between the weather condition level and the lidar working mode. In the correspondence table, the worse the weather, the lower the working power consumption of the corresponding lidar. The scanning range and power of the vehicle's lidar are adjusted according to the current weather condition level and the correspondence table.

[0050] The lidar control unit adjusts the scanning range and power of the lidar according to the result of the weather judgment module. The working states of the lidar are divided into four states: A, B, C, and D. State A is the normal state, and the scanning range and power of the lidar are the largest; State B is the medium power consumption state, and its scanning range and power are lower than those in State A; State C is the low power consumption state, and its scanning range and power are lower than those in State B; In State D, the lidar is completely turned off. The correspondence between the lidar working mode and the weather state level is shown in Table 1:

[0051] Table 1 Correspondence between lidar working state and weather judgment result

[0052] Weather judgment result General weather Slight weather Moderate weather Severe weather Lidar working status A B C D

[0053] In a possible embodiment, the lidar working modes in the corresponding table stored in the lidar control unit include: normal state, medium power consumption state, low power consumption state, and off state.

[0054] The lidar control unit adjusts the scanning range and power of the vehicle's lidar, including: adjusting the working modes of the positioning module and the planning control strategy adjustment module according to the lidar working mode.

[0055] In a possible embodiment, the positioning module performs the positioning function of fusing gps, imu, camera, lidar, and odom, etc., and adjusts the weight and related parameters of the lidar in the positioning module according to the lidar working mode, such as the dynamic adjustment of the scanning range and confidence level, or directly turning off the lidar processing module.

[0056] In a possible embodiment, the lidar control unit adjusts the working mode of the planning control strategy adjustment module, including: controlling the area of the drivable area, lane change strategy, vehicle speed, and acceleration and deceleration.

[0057] When the lidar working mode is the normal state, the thresholds of the drivable area, lane change strategy, vehicle speed, and acceleration and deceleration are all set normally.

[0058] When the lidar working mode is the medium power consumption state, the thresholds of the maximum vehicle speed and maximum acceleration and deceleration are reduced on the basis of the normal state.

[0059] When the lidar working mode is the low power consumption state, complex scenarios such as busy intersections are removed from the drivable area. On the basis of the medium power consumption state, the thresholds of the highest vehicle speed and maximum acceleration and deceleration are reduced, and the threshold of lane change judgment is increased.

[0060] When the lidar working mode is the off state, on the basis of the low power consumption state, the drivable area is reduced, the thresholds of the highest vehicle speed and maximum acceleration are reduced, and the threshold of lane change judgment is increased.

[0061] Embodiment 2

[0062] Embodiment 2 provided by the present invention is an embodiment of a vehicle lidar control method provided by the present invention. The embodiment of the control method includes:

[0063] Step 1: Report the position information and current time information of the vehicle, query the weather condition in the time period of the future set duration for the position information, and determine the weather state level corresponding to the weather information according to the set rules.

[0064] During the initialization process, when the vehicle is just started, the lidar is not turned on temporarily. First, report the position information and current time information of the vehicle, query the weather condition at this position in this time period, only use the input result of the weather monitoring module to judge the weather, and then output which one of general weather, slightly bad weather, moderately bad weather, and severe weather the weather is. Then, the lidar sets its state according to the weather condition, and the positioning module and the planning control strategy adjustment module are adjusted based on the state of the lidar.

[0065] Step 2: Establish a correspondence table between the weather state level and the lidar working mode. In the correspondence table, the worse the weather, the lower the working power consumption of the corresponding lidar. Adjust the scanning range and power of the vehicle lidar according to the current weather state level and the correspondence table.

[0066] After the initialization is completed, the entire process will run at intervals of 2 minutes for the first time. That is, during the vehicle operation, the weather will be monitored and recognized in real time, and then the weather judgment module will fuse the results of the weather monitoring module and the weather recognition and perception module, output the final weather result and transmit it to the lidar control module to adjust the working mode of the lidar. Finally, modify the positioning module and the planning control strategy adjustment module.

[0067] Step 3: Periodically repeat Steps 1 - 2 at the set time.

[0068] After the first full - process processing, in order to save power resources and computing resources, Steps 1 and 2 will be performed every 10 minutes later.

[0069] It can be understood that a vehicle lidar control method provided by the present invention corresponds to the vehicle lidar control systems provided in the foregoing embodiments. The related technical features of the vehicle lidar control method can refer to the related technical features of the vehicle lidar control systems, and will not be elaborated here.

[0070] Please refer to Figure 5 , Figure 5 which is a schematic diagram of an embodiment of an electronic device provided by an embodiment of the present invention. As Figure 5As shown in the figure, an embodiment of the present invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320. When the processor 1320 executes the computer program 1311, the following steps are implemented: Step 1, report the location information and current time information of the vehicle, query the weather conditions in a period of a preset duration in the future for the location information, and determine the weather state level corresponding to the weather information according to the preset rules; Step 2, establish a correspondence table between the weather state level and the lidar working mode, where the worse the weather in the correspondence table, the lower the working power consumption of the lidar, and adjust the scanning range and power of the vehicle's lidar according to the current weather state level and the correspondence table; Step 3, periodically repeat Steps 1-2 at preset times.

[0071] Please refer to Figure 6 , Figure 6 is a schematic diagram of an embodiment of a computer-readable storage medium provided by the present invention. As Figure 6 shown, this embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored. When the computer program 1411 is executed by a processor, the following steps are implemented:

[0072] Step 1, report the location information and current time information of the vehicle, query the weather conditions in a period of a preset duration in the future for the location information, and determine the weather state level corresponding to the weather information according to the preset rules; Step 2, establish a correspondence table between the weather state level and the lidar working mode, where the worse the weather in the correspondence table, the lower the working power consumption of the lidar, and adjust the scanning range and power of the vehicle's lidar according to the current weather state level and the correspondence table; Step 3, periodically repeat Steps 1-2 at preset times.

[0073] A vehicle lidar control system, control system, method, electronic device, and storage medium provided by an embodiment of the present invention can automatically adjust the power state of the lidar, adjust the scanning range of the lidar when detecting rainy, snowy, foggy, or dusty weather, and then fuse GPS, IMU, wheel odometer, and camera for positioning, and also make corresponding changes to the planning control module; it can solve the problem that the lidar accuracy is reduced and the misrecognition probability increases due to weather reasons, resulting in errors in the entire positioning system, and can also improve the safety factor of vehicle motion control and save electric energy, which is very beneficial for current intelligent new energy vehicles.

[0074] It should be noted that in the above embodiments, the descriptions of each embodiment have their own emphases. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0075] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0076] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0077] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0078] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0079] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0080] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A vehicle lidar control system, characterized in that, the control system includes: a weather condition determination unit and a lidar control unit; the weather condition determination unit receives weather information according to time and positioning information, and determines the weather condition level corresponding to the weather information according to set rules; the lidar control unit stores a correspondence table between weather condition levels and lidar working modes, in which the worse the weather, the lower the working power consumption of the lidar. The scanning range and power of the vehicle's lidar are adjusted according to the current weather condition level and the correspondence table; the lidar working modes in the correspondence table stored in the lidar control unit include: normal state, medium power consumption state, low power consumption state, and off state; the lidar control unit adjusting the scanning range and power of the vehicle's lidar includes: adjusting the working modes of the positioning module and the planning control strategy adjustment module according to the lidar working mode; the lidar control unit adjusting the working mode of the positioning module includes: adjusting the weight and related parameters of the lidar in the positioning module, including: scanning range adjustment, dynamic adjustment of confidence, and shutting down the lidar processing module.

2. The control system according to claim 1, characterized in that, the weather determination includes a weather monitoring module, a weather recognition and perception module, and a weather condition judgment module; the weather monitoring module obtains the current position of the vehicle submitted by the positioning module, obtains the weather forecast for the current position and a future set time period through the network, and determines the weather type and the corresponding weather type status level according to set rules; the weather recognition and perception module obtains an image of the current environment through a camera, analyzes the image through a cnn network to obtain weather information, and determines the weather type and the corresponding weather type status level according to set rules; the weather condition judgment module fuses the weather monitoring module and the weather recognition and perception module to determine the weather type and the corresponding weather type status level, and outputs the weather condition level according to set rules.

3. The control system according to claim 2, characterized in that, the weather types include: rain, snow, fog, dust, and none; the weather type status levels include: severe, medium, and mild.

4. The control system according to claim 2, characterized in that, the weather condition levels output by the weather condition judgment module include: general weather, slightly severe weather, moderately severe weather, and severe weather.

5. The control system according to claim 1, characterized in that, the lidar control unit adjusting the working mode of the planning control strategy adjustment module includes: controlling the area of the drivable area, lane change strategy, vehicle speed, and acceleration and deceleration; when the lidar working mode is the normal state, the thresholds of the drivable area, lane change strategy, vehicle speed, and acceleration and deceleration are all set normally; when the lidar working mode is the medium power consumption state, the thresholds of the maximum vehicle speed and maximum acceleration and deceleration are reduced on the basis of the normal state; When the lidar is in the low-power mode, complex scenarios are excluded from the drivable area. Based on the medium-power state, the thresholds of the maximum vehicle speed and the maximum acceleration and deceleration are reduced, and the threshold for lane-changing judgment is increased. When the lidar is in the off mode, based on the low-power state, the drivable area is reduced, the thresholds of the maximum vehicle speed and the maximum acceleration are decreased, and the threshold for lane-changing judgment is increased.

6. A vehicle lidar control method Characterized in that The control method includes: Step 1: Report the vehicle's position information and the current time information, query the weather condition during a preset time period in the future for the position information, and determine the weather state level corresponding to the weather information according to the set rules. Step 2: Establish a correspondence table between the weather state level and the lidar working mode. In the correspondence table, the worse the weather, the lower the working power consumption of the lidar. Adjust the scanning range and power of the vehicle's lidar according to the current weather state level and the correspondence table. Step 3: Periodically repeat Steps 1-2 at preset times. The lidar working modes in the correspondence table stored in the lidar control unit include: normal state, medium-power state, low-power state, and off state. The lidar control unit adjusting the scanning range and power of the vehicle's lidar includes: adjusting the working modes of the positioning module and the planning and control strategy adjustment module according to the lidar working mode. The lidar control unit adjusting the working mode of the positioning module includes: adjusting the weight and related parameters of the lidar in the positioning module, including: scanning range adjustment, dynamic adjustment of confidence, and shutting down the lidar processing module.

7. An electronic device Characterized in that It includes a memory and a processor. When the processor executes the computer management program stored in the memory, it implements the steps of the vehicle lidar control method as described in claim 6.

8. A computer-readable storage medium Characterized in that A computer management program is stored thereon. When the computer management program is executed by a processor, it implements the steps of the vehicle lidar control method as described in claim 6.

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