Predictive sensor sensing range adjustment system and method

Abstract

The present invention discloses a predictive sensor perception range adjustment system and method. The system includes: a predictive perception module and a positioning module, an ADAS map module, a sensor fixing mechanism, a sensor perception module, and a vehicle perception module. The positioning module is used to obtain current position information; the ADAS map module is used to obtain altitude information and road curvature information at the current position and a preset distance ahead; the sensor perception module is used to perceive forward image information; the sensor fixing mechanism is used to fix the sensor and adjust the angle according to an angle adjustment instruction; the predictive perception module is used to calculate road curvature difference and altitude difference information, calculate angle change information of the fixing mechanism, and output an angle adjustment instruction. The predictive sensor perception range adjustment system and method provided by the present invention predicts the future driving direction based on the terrain environment and automatically converts the perception direction to increase the effective sensor perception space, simplify the number of sensors, and reduce costs.

Description

Technical Field

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

[0002] Currently, intelligent driving technology typically uses sensors such as cameras and radar to perceive the forward and lateral environments. Millimeter-wave sensors like radar have a fixed transmission power. To ensure farther perception, the transmission width narrows, resulting in a smaller near-field perception range. To ensure near-field perception, the perception distance must be reduced. Cameras also have similar technical specifications: their image processing rate is efficient. The wider the perception range, the more image information is required, and distant images are inevitably discarded within a fixed image processing efficiency. Current sensors typically utilize fixed installation solutions, using FOV calibration to achieve blind-spot-free perception as much as possible, typically by increasing the number of sensors.

[0003] The drawback of existing technology is that, on the one hand, some radars can automatically adjust the FOV (field of view) range by changing the vehicle speed, but it is still limited to the single technical condition of vehicle speed. For example, when the vehicle speed is greater than 60km / h, the system automatically switches to high-speed mode (the close range becomes smaller and the perception distance becomes farther). On the other hand, by superimposing sensors (near and long distance), farther and wider perception can be achieved. However, for working conditions such as curves, only the front is perceived, and the lateral range is narrowed, making it impossible to detect distant obstacles in advance.

[0004] Therefore, there is an urgent need for a predictive sensor perception range adjustment system and method. Summary of the Invention

[0005] The purpose of the present invention is to provide a predictive sensor perception range adjustment system and method to solve the problems in the above-mentioned prior art. It can predict the future driving direction based on the terrain environment, and through the automatic conversion of the perception direction, it can increase the effective perception space of the sensor, streamline the number of sensors, and reduce costs.

[0006] The present invention provides a predictive sensor perception range adjustment system, comprising:

[0007] A predictive perception module and a positioning module connected to the predictive perception module, an ADAS map module, a sensor fixing mechanism, a sensor perception module, and a vehicle perception module, wherein:

[0008] The positioning module is used to obtain the current vehicle position information;

[0009] The ADAS map module is used to obtain altitude information and / or road curvature information of the vehicle's current position, and altitude information and / or road curvature information at a preset distance ahead of the vehicle;

[0010] The sensor perception module is used to perceive image information in front of the vehicle;

[0011] The sensor fixing mechanism is used to fix the sensor perception module, and send the current pitch angle information and / or left and right angle information of the sensor fixing mechanism to the predictive perception module, and adjust the pitch angle and / or left and right angle according to the pitch angle adjustment instruction and / or left and right angle adjustment instruction output by the predictive perception module to adjust the perception range of the sensor perception module;

[0012] The predictive perception module is used to calculate the road curvature difference information and / or altitude difference information between the vehicle's current position and a preset distance in front of the vehicle based on the altitude information and / or road curvature information of the vehicle's current position obtained by the ADAS map module and the altitude information and / or road curvature information at a preset distance in front of the vehicle; calculate the expected pitch angle change information and / or the expected left and right angle change information of the sensor fixing mechanism based on the road curvature difference information and / or altitude difference information between the vehicle's current position and the preset distance in front of the vehicle, and the current pitch angle information and / or left and right angle information of the sensor fixing mechanism sent by the sensor fixing mechanism; and output the pitch angle adjustment instruction and / or the left and right angle adjustment instruction to the sensor fixing mechanism based on the expected pitch angle change information and / or the expected left and right angle change information of the sensor fixing mechanism.

[0013] The predictive sensor perception range adjustment system as described above, wherein preferably, the predictive sensor perception range adjustment system further includes a vehicle perception module, connected to the predictive perception module, for obtaining vehicle body posture information;

[0014] The predictive perception module is further configured to predict the vehicle trajectory based on the vehicle front image information perceived by the sensor perception module and the vehicle body posture information acquired by the self-vehicle perception module to obtain a predicted vehicle trajectory; and output a pitch angle fine-tuning instruction and / or a left-right angle fine-tuning instruction to the sensor fixing mechanism based on the predicted vehicle trajectory to fine-tune the pitch angle and / or the left-right angle of the sensor fixing mechanism.

[0015] In the predictive sensor perception range adjustment system as described above, preferably, the vehicle perception module includes a vehicle body stability system and a steering angle sensor built into the steering wheel.

[0016] The predictive sensor perception range adjustment system as described above, wherein, preferably, the sensor fixing mechanism includes a field of view adjustment control system and a sensor fixing assembly, the field of view adjustment control system and the sensor fixing assembly are connected by a fixed connecting rod, the sensor perception module is arranged on the sensor fixing assembly, and the field of view adjustment control system is used to adjust the three-dimensional field of view direction of the sensor perception module in response to the pitch angle adjustment instruction and / or the left and right angle adjustment instruction, and / or the pitch angle fine-tuning instruction and / or the left and right angle fine-tuning instruction output by the predictive perception module.

[0017] In the predictive sensor sensing range adjustment system as described above, preferably, a universal joint mechanism that can be locked and can provide feedback on accuracy is provided between the fixed link and the sensor fixing assembly.

[0018] In the predictive sensor perception range adjustment system as described above, preferably, the sensor perception module includes a camera, a lidar or a millimeter wave radar.

[0019] The present invention also provides a predictive sensor sensing range adjustment method using the above system, comprising:

[0020] Get the current vehicle location information;

[0021] Used to obtain altitude information and / or road curvature information of the vehicle's current position, and altitude information and / or road curvature information at a preset distance ahead of the vehicle;

[0022] Calculating road curvature difference information and / or altitude difference information between the current position of the vehicle and the preset distance ahead of the vehicle based on altitude information and / or road curvature information of the current position of the vehicle and altitude information and / or road curvature information at a preset distance ahead of the vehicle;

[0023] Adjust the three-dimensional field of view direction of the sensor perception module based on the road curvature difference and / or altitude difference information between the vehicle's current position and a preset distance in front of the vehicle.

[0024] In the predictive sensor perception range adjustment method described above, preferably, adjusting the three-dimensional field of view direction of the sensor perception module based on road curvature difference information and / or altitude difference information between the vehicle's current position and a preset distance ahead of the vehicle specifically includes:

[0025] Fixing the sensor sensing module through a sensor fixing mechanism and obtaining current pitch angle information and / or left and right angle information of the sensor fixing mechanism;

[0026] Utilizing a predictive sensing module, based on road curvature difference information and / or altitude difference information between the vehicle's current position and a preset distance ahead of the vehicle, and current pitch angle information and / or left-right angle information of the sensor mounting mechanism, calculate expected pitch angle change information and / or expected left-right angle change information of the sensor mounting mechanism;

[0027] The predictive perception module outputs the pitch angle adjustment instruction and / or the left-right angle adjustment instruction to the sensor fixing mechanism based on the expected pitch angle change information and / or the expected left-right angle change information of the sensor fixing mechanism;

[0028] In response to the pitch angle adjustment instruction and / or the left and right angle adjustment instruction output by the predictive perception module, the sensor fixing mechanism adjusts the pitch angle and / or the left and right angle to adjust the perception range of the sensor perception module.

[0029] The predictive sensor perception range adjustment method as described above, wherein preferably, the predictive sensor perception range adjustment method further includes:

[0030] Fine-tuning the pitch angle and / or left-right angle of the sensor fixing mechanism includes:

[0031] sensing image information in front of the vehicle through the sensor perception module;

[0032] Obtain vehicle posture information through the vehicle perception module;

[0033] The predictive perception module predicts the vehicle trajectory based on the vehicle front image information perceived by the sensor perception module and the vehicle body posture information acquired by the vehicle perception module to obtain a predicted vehicle trajectory;

[0034] The predictive perception module outputs a pitch angle fine-tuning instruction and / or a left-right angle fine-tuning instruction to the sensor fixing mechanism based on the predicted vehicle trajectory, so as to fine-tune the pitch angle and / or the left-right angle of the sensor fixing mechanism.

[0035] In the predictive sensor perception range adjustment method as described above, preferably, obtaining the current vehicle position information specifically includes:

[0036] Use the positioning module to obtain the current vehicle location information;

[0037] The acquiring of the altitude information and / or road curvature information of the current position of the vehicle and the altitude information and / or road curvature information at a preset distance ahead of the vehicle specifically includes:

[0038] Using the ADAS map module to obtain altitude information and / or road curvature information of the vehicle's current location, and altitude information and / or road curvature information at a preset distance ahead of the vehicle;

[0039] The calculating, based on the altitude information and / or road curvature information of the current position of the vehicle and the altitude information and / or road curvature information at a preset distance ahead of the vehicle, road curvature difference information and / or altitude difference information between the current position of the vehicle and the preset distance ahead of the vehicle specifically includes:

[0040] Using the predictive perception module, based on the altitude information and / or road curvature information of the vehicle's current position and the altitude information and / or road curvature information at a preset distance in front of the vehicle, the road curvature difference information and / or altitude difference information between the vehicle's current position and the preset distance in front of the vehicle is calculated.

[0041] The predictive sensor perception range adjustment system and method of the present invention provide a predictive perception direction adjustment strategy. Based on the comparison of the altitude difference and curvature difference between the front and the current, the pitch angle and left and right angle change instructions are output, thereby controlling the field of view direction of the sensor perception module to be adjusted to the target value, realizing the adjustment of the field of view of the sensor perception module, and achieving maximum perception efficiency by adjusting the sensor angle on the future path; the perception range can be maximized based on the same sensor, providing more reliable traffic participant information on the future road direction for intelligent driving, and improving the effective perception space of the sensor. If used in conjunction with the high-precision map and path planning used in autonomous driving, a more reliable and streamlined number of sensors can be achieved, thereby reducing costs; the future driving direction is predicted through the terrain environment, and the effective perception space of the sensor is improved through the automatic conversion perception direction, the number of sensors is streamlined, and costs are reduced; the angle of the final sensor fixed structure is fine-tuned through actual visual perception to avoid losing important road information. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings, in which:

[0043] Figure 1 A structural block diagram of an embodiment of a predictive sensor perception range adjustment system provided by the present invention;

[0044] Figure 2 A schematic structural diagram of a sensor fixing mechanism of an embodiment of a predictive sensor sensing range adjustment system provided by the present invention;

[0045] Figure 3 This is a rendering of an embodiment of a predictive sensor perception range adjustment system provided by the present invention;

[0046] Figure 4 A flowchart of the predictive sensor perception range adjustment method provided by the present invention;

[0047] Figure 5 This is a logic diagram of the predictive sensor perception range adjustment method provided by the present invention. DETAILED DESCRIPTION

[0048] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure, its application, or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of parts and steps, the composition of materials, numerical expressions, and numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0049] The terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are simply used to distinguish different parts. Terms such as "include" or "comprising" mean that the elements preceding the term include the elements listed after the term, and do not exclude the possibility of also including other elements. Terms such as "upper," "lower," and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0050] In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be an intervening component between the specific component and the first component or the second component. When a specific component is described as being connected to another component, the specific component may be directly connected to the other component without an intervening component, or may not be directly connected to the other component but have an intervening component.

[0051] All terms (including technical or scientific terms) used in this disclosure have the same meaning as those understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined herein.

[0052] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0053] like Figure 1As shown, the predictive sensor perception range adjustment system provided in this embodiment includes: a predictive perception module 101 and a positioning module 103 connected to the predictive perception module 101, an ADAS map module 102, a sensor fixing mechanism 104, a sensor perception module 105 and a vehicle perception module 106, wherein:

[0054] The positioning module 103 is used to obtain the current vehicle location information;

[0055] The ADAS map module 102 is used to obtain altitude information and / or road curvature information of the vehicle's current position, and altitude information and / or road curvature information at a preset distance ahead of the vehicle;

[0056] The sensor perception module 105 is used to perceive image information in front of the vehicle;

[0057] The sensor fixing mechanism 104 is used to fix the sensor perception module 105, and send the current pitch angle information and / or left and right angle information of the sensor fixing mechanism 104 to the predictive perception module 101, and adjust the pitch angle and / or left and right angle according to the pitch angle adjustment instruction and / or left and right angle adjustment instruction output by the predictive perception module 101, so as to adjust the perception range of the sensor perception module 105;

[0058] The predictive perception module 101 is used to calculate the road curvature difference information and / or altitude difference information between the vehicle's current position and a preset distance in front of the vehicle based on the altitude information and / or road curvature information of the vehicle's current position obtained by the ADAS map module 102, and the altitude information and / or road curvature information at a preset distance in front of the vehicle; calculate the expected pitch angle change information and / or the expected left and right angle change information of the sensor fixing mechanism 104 based on the road curvature difference information and / or altitude difference information between the vehicle's current position and a preset distance in front of the vehicle, and the current pitch angle information and / or left and right angle information of the sensor fixing mechanism 104 sent by the sensor fixing mechanism 104, and output the pitch angle adjustment instruction and / or the left and right angle adjustment instruction to the sensor fixing mechanism 104 based on the expected pitch angle change information and / or the expected left and right angle change information of the sensor fixing mechanism 104.

[0059] The sensor perception module 105 includes a camera, a laser radar, or a millimeter-wave radar. It should be noted that the present invention does not specifically limit the type or model of the sensor perception module 105. Since the sensor perception module 105 is fixed to the sensor fixing mechanism 104, the field of view of the sensor perception module 105 can be adjusted by adjusting the pitch angle and left-right angle of the sensor fixing mechanism 104. The field of view direction can be understood as the direction of the shooting angle of the sensor perception module 105.

[0060] For example, the ADAS map module 102 can obtain altitude information and / or road curvature information 2 kilometers ahead. It should be noted that the present invention does not specifically limit the value of the preset distance ahead of the vehicle. Compared to ordinary navigation maps, the ADAS map module 102 can provide real-time road curvature and altitude information. Compared to high-precision maps, it is less expensive, requires less data, and is easier to apply in large quantities.

[0061] Furthermore, the predictive sensor perception range adjustment system further includes a vehicle perception module 106 , which is connected to the predictive perception module 101 and is used to obtain vehicle body posture information.

[0062] Furthermore, the predictive perception module 101 is also used to predict the vehicle trajectory based on the vehicle front image information perceived by the sensor perception module 105 and the vehicle body posture information obtained by the self-vehicle perception module 106 to obtain a predicted vehicle trajectory; and according to the predicted vehicle trajectory, output a pitch angle fine-tuning instruction and / or a left-right angle fine-tuning instruction to the sensor fixing mechanism 104 to fine-tune the pitch angle and / or the left-right angle of the sensor fixing mechanism 104.

[0063] In a specific implementation, after the sensor perception module 105 perceives the image information and the vehicle perception module 106 obtains the vehicle body posture information, the pitch angle and / or left and right angle of the sensor fixing mechanism 104 can be adjusted by comparing typical features (for example, comparison with reference objects such as lane lines, or the ratio of the surrounding environment (such as the sky, etc.) to the lane), thereby fine-tuning the field of view (FOV) direction of the sensor 105.

[0064] The vehicle perception module 106 includes a vehicle body stability system and a steering angle sensor built into the steering wheel.

[0065] Furthermore, the sensor fixing mechanism 104 includes a field of view adjustment control system 1 and a sensor fixing component 3, the field of view adjustment control system 1 and the sensor fixing component 3 are connected by a fixed link 2, the sensor perception module 105 is arranged on the sensor fixing component 3, and the field of view adjustment control system 1 is used to adjust the three-dimensional field of view direction of the sensor perception module 105 in response to the pitch angle adjustment instruction and / or the left and right angle adjustment instruction, and / or the pitch angle fine-tuning instruction and / or the left and right angle fine-tuning instruction output by the predictive perception module 101.

[0066] Furthermore, a universal mechanism capable of locking and providing feedback on accuracy is provided between the fixing link 2 and the sensor fixing assembly 3. The sensor fixing mechanism 104 can be used to adjust the field of view (FOV) direction of the sensor sensing module 105.

[0067] Finally, the adjustment to maximize perception is achieved. Figure 3 As shown in the figure, the curvature change of forward perception is introduced as an example. Figure 3 As shown in the left figure of FIG, if the sensor perception module 105 does not perform predictive steering adjustments, the sensor perception module 105's perception field of view (FOV) of the future vehicle lane is small; Figure 3 As shown in the right figure, the predictive sensor perception range adjustment system of the present invention can adjust the field of view direction of the sensor perception module 105, so as to achieve the maximum perception coverage of the future vehicle driving lane by the sensor perception module 105 and identify the road obstacles in the future driving direction in advance.

[0068] The predictive sensor perception range adjustment system provided by the embodiment of the present invention provides a predictive perception direction adjustment strategy. The predictive perception system outputs pitch angle and left and right angle change instructions based on the comparison of the altitude difference and curvature difference between the front and the current, and then controls the sensor fixing mechanism to change the pitch angle and left and right angle, so that the field of view direction of the sensor perception module is adjusted to the target value, and the field of view of the sensor perception module is adjusted. By adjusting the sensor angle on the future path, the perception efficiency is maximized; the perception range can be maximized based on the same sensor, providing more reliable traffic participant information on the future road direction for intelligent driving, and improving the effective perception space of the sensor. If used in conjunction with the high-precision map and path planning used in autonomous driving, a more reliable and streamlined number of sensors can be achieved, thereby reducing costs; the future driving direction is predicted through the terrain environment, and the effective perception space of the sensor is improved by automatically converting the perception direction, streamlining the number of sensors, and reducing costs; the angle of the final sensor fixing structure is fine-tuned through actual visual perception to avoid losing important road information.

[0069] like Figure 4 and Figure 5 As shown, the predictive sensor perception range adjustment method provided by this embodiment specifically includes:

[0070] Step S1: Obtain current vehicle location information.

[0071] Specifically, the positioning module (GPS) 103 is used to obtain the current vehicle location information.

[0072] Step S2 is used to obtain altitude information and / or road curvature information of the current position of the vehicle, and altitude information and / or road curvature information at a preset distance ahead of the vehicle.

[0073] Specifically, the ADAS map module 102 is used to obtain altitude information and / or road curvature information for the vehicle's current location, as well as altitude information and / or road curvature information at a preset distance ahead of the vehicle. Compared to conventional navigation maps, the ADAS map module 102 provides real-time road curvature and altitude information. Compared to high-precision maps, it is more cost-effective, requires less data, and is easier to apply in large quantities.

[0074] Step S3: Calculate the road curvature difference information and / or altitude difference information between the current position of the vehicle and the preset distance in front of the vehicle based on the altitude information and / or road curvature information of the current position of the vehicle and the altitude information and / or road curvature information at a preset distance in front of the vehicle.

[0075] Specifically, the predictive perception module 101 is used to calculate the road curvature difference information and / or altitude difference information between the current position of the vehicle and the preset distance in front of the vehicle based on the altitude information and / or road curvature information of the current position of the vehicle and the altitude information and / or road curvature information at a preset distance in front of the vehicle.

[0076] Step S4: Adjust the three-dimensional field of view direction of the sensor perception module 105 according to the road curvature difference information and / or altitude difference information between the current position of the vehicle and a preset distance in front of the vehicle.

[0077] In one embodiment of the predictive sensor perception range adjustment method of the present invention, step S4 may specifically include:

[0078] Step S41 : Fix the sensor sensing module 105 via the sensor fixing mechanism 104 , and obtain current pitch angle information and / or left-right angle information of the sensor fixing mechanism 104 .

[0079] Step S42: Utilizing the predictive perception module 101, based on the road curvature difference information and / or altitude difference information between the current position of the vehicle and a preset distance in front of the vehicle, and the current pitch angle information and / or left-right angle information of the sensor fixing mechanism 104, calculate the expected pitch angle change information and / or left-right angle change information of the sensor fixing mechanism 104.

[0080] Through step S42, the requirements for changing the pitch angle and the left and right angle can be formed by comparing the altitude difference and the curvature difference.

[0081] Step S43: The predictive perception module 101 outputs the pitch angle adjustment instruction and / or the left-right angle adjustment instruction to the sensor fixing mechanism 104 according to the expected pitch angle change information and / or the expected left-right angle change information of the sensor fixing mechanism 104.

[0082] Step S44: In response to the pitch angle adjustment instruction and / or the left-right angle adjustment instruction output by the predictive perception module 101, the sensor fixing mechanism 104 adjusts the pitch angle and / or the left-right angle to adjust the perception range of the sensor perception module 105.

[0083] By adjusting the pitch angle and / or left-right angle of the sensor fixing mechanism 104 , the field of view direction of the sensor perception module 105 can be adjusted to a target value.

[0084] Furthermore, in some embodiments of the present invention, the predictive sensor perception range adjustment method further includes:

[0085] Step S5: fine-tune the pitch angle and / or left-right angle of the sensor fixing mechanism 104.

[0086] In one embodiment of the predictive sensor perception range adjustment method of the present invention, step S5 may specifically include:

[0087] Step S51 : sensing image information in front of the vehicle through the sensor sensing module 105 .

[0088] Step S52 : Acquire vehicle posture information via the vehicle perception module 106 .

[0089] In step S53 , the predictive perception module 101 predicts the vehicle trajectory based on the vehicle front image information perceived by the sensor perception module 105 and the vehicle body posture information acquired by the vehicle perception module 106 to obtain a predicted vehicle trajectory.

[0090] In step S54 , the predictive perception module 101 outputs a pitch angle fine-tuning instruction and / or a left-right angle fine-tuning instruction to the sensor fixing mechanism 104 according to the predicted vehicle trajectory, so as to fine-tune the pitch angle and / or the left-right angle of the sensor fixing mechanism 104 .

[0091] In a specific implementation, after the sensor perception module 105 perceives the image information and the vehicle perception module 106 obtains the vehicle body posture information, the pitch angle and / or left and right angle of the sensor fixing mechanism 104 can be adjusted by comparing typical features (for example, comparison with reference objects such as lane lines, or the ratio of the surrounding environment (such as the sky, etc.) to the lane), thereby fine-tuning the field of view (FOV) direction of the sensor 105.

[0092] The predictive sensor perception range adjustment method provided by the embodiment of the present invention provides a predictive perception direction adjustment strategy. Based on the comparison of the altitude difference and curvature difference between the front and the current, the pitch angle and left and right angle change instructions are output, thereby controlling the field of view direction of the sensor perception module to be adjusted to the target value, thereby realizing the adjustment of the field of view of the sensor perception module and maximizing the perception efficiency by adjusting the sensor angle on the future path. The perception range can be maximized based on the same sensor, providing more reliable traffic participant information on the future road direction for intelligent driving, and improving the effective perception space of the sensor. If used in conjunction with the high-precision map and path planning used in autonomous driving, a more reliable and streamlined number of sensors can be achieved, thereby reducing costs. The future driving direction is predicted through the terrain environment, and the effective perception space of the sensor is improved by automatically converting the perception direction, thereby streamlining the number of sensors and reducing costs. The angle of the final sensor fixed structure is fine-tuned through actual visual perception to avoid losing important road information.

[0093] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details well known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0094] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A predictive sensor sensing range adjustment system, characterized in that: include: A predictive perception module and a positioning module connected to the predictive perception module, an ADAS map module, a sensor fixing mechanism, a sensor perception module, and a vehicle perception module, wherein: The positioning module is used to obtain the current vehicle position information; The ADAS map module is used to obtain altitude information and / or road curvature information of the vehicle's current position, and altitude information and / or road curvature information at a preset distance ahead of the vehicle; The sensor perception module is used to perceive image information in front of the vehicle; The sensor fixing mechanism is used to fix the sensor perception module, and send the current pitch angle information and / or left and right angle information of the sensor fixing mechanism to the predictive perception module, and adjust the pitch angle and / or left and right angle according to the pitch angle adjustment instruction and / or left and right angle adjustment instruction output by the predictive perception module to adjust the perception range of the sensor perception module; The predictive perception module is configured to calculate road curvature difference information and / or altitude difference information between the vehicle's current position and a preset distance in front of the vehicle based on altitude information and / or road curvature information of the vehicle's current position acquired by the ADAS map module and altitude information and / or road curvature information at a preset distance in front of the vehicle; calculate expected pitch angle change information and / or expected left-right angle change information of the sensor fixing mechanism based on the road curvature difference information and / or altitude difference information between the vehicle's current position and the preset distance in front of the vehicle and the current pitch angle information and / or left-right angle information of the sensor fixing mechanism sent by the sensor fixing mechanism; and output the pitch angle adjustment instruction and / or left-right angle adjustment instruction to the sensor fixing mechanism based on the expected pitch angle change information and / or expected left-right angle change information of the sensor fixing mechanism; The vehicle perception module is used to obtain vehicle body posture information; The predictive perception module is further configured to predict the vehicle trajectory based on the vehicle front image information perceived by the sensor perception module and the vehicle body posture information acquired by the self-vehicle perception module to obtain a predicted vehicle trajectory; and output a pitch angle fine-tuning instruction and / or a left-right angle fine-tuning instruction to the sensor fixing mechanism based on the predicted vehicle trajectory to fine-tune the pitch angle and / or the left-right angle of the sensor fixing mechanism.

2. The predictive sensor sensing range adjustment system according to claim 1, wherein: The vehicle perception module includes a vehicle body stabilization system and a steering angle sensor built into the steering wheel.

3. The predictive sensor sensing range adjustment system according to claim 1, wherein: The sensor fixing mechanism includes a field of view adjustment control system and a sensor fixing component, the field of view adjustment control system and the sensor fixing component are connected by a fixed connecting rod, the sensor perception module is arranged on the sensor fixing component, and the field of view adjustment control system is used to adjust the three-dimensional field of view direction of the sensor perception module in response to the pitch angle adjustment instruction and / or the left and right angle adjustment instruction, and / or the pitch angle fine-tuning instruction and / or the left and right angle fine-tuning instruction output by the predictive perception module.

4. The predictive sensor sensing range adjustment system according to claim 3, wherein: A universal mechanism that can be locked and provide feedback on accuracy is provided between the fixed connecting rod and the sensor fixing assembly.

5. The predictive sensor sensing range adjustment system according to claim 1, wherein: The sensor perception module includes a camera, a laser radar or a millimeter wave radar.

6. A predictive sensor sensing range adjustment method using the system according to any one of claims 1 to 5, characterized in that: The steps include: Get the current vehicle location information; Used to obtain altitude information and / or road curvature information of the vehicle's current position, and altitude information and / or road curvature information at a preset distance ahead of the vehicle; Calculating road curvature difference information and / or altitude difference information between the current position of the vehicle and the preset distance ahead of the vehicle based on altitude information and / or road curvature information of the current position of the vehicle and altitude information and / or road curvature information at a preset distance ahead of the vehicle; Adjust the three-dimensional field of view direction of the sensor perception module based on the road curvature difference and / or altitude difference information between the vehicle's current position and a preset distance in front of the vehicle.

7. The predictive sensor sensing range adjustment method according to claim 6, characterized in that: The adjusting the three-dimensional field of view direction of the sensor perception module according to the road curvature difference information and / or altitude difference information between the current position of the vehicle and a preset distance in front of the vehicle specifically includes: Fixing the sensor sensing module through a sensor fixing mechanism and obtaining current pitch angle information and / or left and right angle information of the sensor fixing mechanism; Utilizing a predictive sensing module, based on road curvature difference information and / or altitude difference information between the vehicle's current position and a preset distance ahead of the vehicle, and current pitch angle information and / or left-right angle information of the sensor mounting mechanism, calculate expected pitch angle change information and / or expected left-right angle change information of the sensor mounting mechanism; The predictive perception module outputs the pitch angle adjustment instruction and / or the left-right angle adjustment instruction to the sensor fixing mechanism based on the expected pitch angle change information and / or the expected left-right angle change information of the sensor fixing mechanism; In response to the pitch angle adjustment instruction and / or the left and right angle adjustment instruction output by the predictive perception module, the sensor fixing mechanism adjusts the pitch angle and / or the left and right angle to adjust the perception range of the sensor perception module.

8. The predictive sensor sensing range adjustment method according to claim 6, wherein: The predictive sensor perception range adjustment method further includes: Fine-tuning the pitch angle and / or left-right angle of the sensor fixing mechanism includes: sensing image information in front of the vehicle through the sensor perception module; Obtain vehicle posture information through the vehicle perception module; The predictive perception module predicts the vehicle trajectory based on the vehicle front image information perceived by the sensor perception module and the vehicle body posture information acquired by the vehicle perception module to obtain a predicted vehicle trajectory; The predictive perception module outputs a pitch angle fine-tuning instruction and / or a left-right angle fine-tuning instruction to the sensor fixing mechanism based on the predicted vehicle trajectory, so as to fine-tune the pitch angle and / or the left-right angle of the sensor fixing mechanism.

9. The predictive sensor sensing range adjustment method according to claim 6, wherein: The obtaining of the current vehicle location information specifically includes: Use the positioning module to obtain the current vehicle location information; The acquiring of the altitude information and / or road curvature information of the current position of the vehicle and the altitude information and / or road curvature information at a preset distance ahead of the vehicle specifically includes: Using the ADAS map module to obtain altitude information and / or road curvature information of the vehicle's current location, and altitude information and / or road curvature information at a preset distance ahead of the vehicle; The calculating, based on the altitude information and / or road curvature information of the current position of the vehicle and the altitude information and / or road curvature information at a preset distance ahead of the vehicle, road curvature difference information and / or altitude difference information between the current position of the vehicle and the preset distance ahead of the vehicle specifically includes: Using the predictive perception module, based on the altitude information and / or road curvature information of the vehicle's current position and the altitude information and / or road curvature information at a preset distance in front of the vehicle, the road curvature difference information and / or altitude difference information between the vehicle's current position and the preset distance in front of the vehicle is calculated.

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