Vehicle sensor position control device, method, computer equipment and medium

Abstract

The present invention provides a vehicle sensor position control device, method, computer equipment and medium. A vehicle sensor position control device includes: a vehicle sensor for obtaining environmental information; a position sensor for collecting the position information of the vehicle sensor; a controller connected to the position sensor, for obtaining the position information and the target position information of the vehicle sensor, and controlling the vehicle sensor to move to the target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle perception requirements, and the target position information is determined according to the current speed of the vehicle. Through the present invention, the position of the vehicle sensor is actively driven to change its fixed position at different vehicle speeds, so as to achieve the "same sensor" in different scenarios. Change the detection range to achieve the same effect as reducing blind spots through multiple sensors.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of autonomous driving, and in particular to a vehicle sensor position control device, method, computer equipment, and medium. Background Art

[0002] Existing autonomous driving vehicles are equipped with various sensors, including but not limited to lidar, millimeter-wave radar, visual sensors, etc. Their purpose is to detect the environment around the vehicle's route, so that the vehicle's autonomous driving computer can perform map positioning based on the environment around the vehicle, identify obstacles, plan paths, and realize automatic and safe driving of the vehicle.

[0003] Since the existing sensors of autonomous vehicles have an inherent detection range (Field of View, FOV), autonomous vehicles often use multiple LiDAR layouts to expand the vehicle's perception of the surrounding environment. The more sensors there are, the larger the vehicle's external perception range is, and the safer the vehicle is. Taking LiDAR as an example, due to the disadvantages of high value and high cost brought by the multi-sensor layout, it has become one of the important bottlenecks hindering the popularization of autonomous vehicles. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the high cost defect caused by the multi-sensor layout method in the prior art, thereby providing a vehicle sensor position control device, method, computer equipment and medium.

[0005] In a first aspect, the present invention provides a vehicle sensor position control device, comprising:

[0006] Vehicle sensors, used to obtain environmental information;

[0007] A position sensor, used to collect position information of the vehicle sensor;

[0008] A controller is connected to the position sensor and is used to obtain the position information and the target position information of the vehicle sensor, and control the vehicle sensor to move to the target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle perception requirements, and the target position information is determined according to the current speed of the vehicle.

[0009] Through this device, the goal of reducing the number of sensors and lowering the cost of the entire vehicle is achieved without reducing the sensor perception range.

[0010] In combination with the first aspect, in a first embodiment of the first aspect, the device further comprises: a driving motor and a transmission mechanism, the vehicle sensor is fixed on the transmission mechanism,

[0011] The controller is used to send a control instruction to the drive motor according to the position information and the target position information of the vehicle sensor;

[0012] The driving motor is used to generate rotational motion according to the control instruction;

[0013] The transmission mechanism is used to convert the rotational motion into linear displacement and angular displacement, so as to move the vehicle sensor to the target position.

[0014] Through the above embodiment, the controller controls the driving motor to make the driving mechanism rotate, and the driving mechanism converts the rotational motion into linear displacement and angular displacement, so that the vehicle sensor reaches the target position.

[0015] In combination with the first aspect, in a second embodiment of the first aspect, the environmental information includes position information of external objects, the vehicle sensor sends the position information of the external objects to a vehicle-mounted computer, and the position sensor sends the position information of the vehicle sensor to the vehicle-mounted computer, so that the vehicle-mounted computer compensates for the position information of the external objects according to the position information of the vehicle sensor to obtain compensated position information of the external objects.

[0016] Through the above-mentioned embodiments, the position information of the external object is compensated and corrected by the position information of the vehicle sensor, so as to avoid the deviation in detecting the position of the external object caused by the movement of the vehicle sensor itself.

[0017] In combination with the first aspect or the second embodiment of the first aspect, in a third embodiment of the first aspect, the environmental information includes speed information of the external object, and the device further includes:

[0018] The speed sensor is used to obtain the speed information of the vehicle sensor and send the speed information to the vehicle computer, so that the vehicle computer compensates the speed information of the external object according to the current speed of the vehicle and the speed information of the vehicle sensor to obtain the compensated speed information of the external object.

[0019] Through the above-mentioned embodiments, the speed information of the external object is compensated and corrected by the speed information of the vehicle sensor, so as to avoid the deviation in detecting the speed of the external object caused by the movement of the vehicle sensor itself.

[0020] In combination with the first embodiment of the first aspect, in a fourth embodiment of the first aspect, the device further includes a fixed frame, the position sensor, the controller, the drive motor, and the transmission mechanism are fixed on the fixed frame, and the fixed frame is placed on top of the vehicle.

[0021] Through the above embodiment, the fixed frame is placed on the top of the vehicle, and the position sensor, controller, drive motor, and transmission mechanism are fixed on the fixed frame to achieve position movement of the vehicle sensor.

[0022] In combination with the fourth embodiment of the first aspect, in a fifth embodiment of the first aspect, when the vehicle sensor is located at different positions of the fixed frame, the horizontal inclination angle of the vehicle sensor is different.

[0023] Through the above embodiments, when the vehicle sensor is at different positions of the fixed frame, the horizontal inclination angles of the vehicle sensor are different, so that the vehicle detection ranges are different, thereby achieving the same detection effect of multiple vehicle sensors while reducing the number of vehicle sensors.

[0024] In a second aspect, the present invention provides a vehicle sensor position control method, which is used in the vehicle sensor position control device according to the first aspect or any embodiment of the first aspect, and the method includes:

[0025] Acquiring position information of a vehicle sensor and target position information of the vehicle sensor;

[0026] The vehicle sensor is controlled to reach the target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle perception requirement, and the target position information is determined according to the current speed of the vehicle.

[0027] Through the above method, the vehicle sensor is in different positions at different vehicle speeds, so that the detection range of the vehicle sensor meets the vehicle perception requirements.

[0028] In combination with the second aspect, in a first embodiment of the second aspect, the horizontal inclination angles of the vehicle sensor at different target positions are different, and the current speed of the vehicle is negatively correlated with the horizontal inclination angle.

[0029] Through the above embodiments, when the vehicle is at different speeds, the vehicle sensor is moved to different positions to change its horizontal inclination angle, wherein the vehicle speed and the horizontal inclination angle are negatively correlated, thereby changing the detection range of the vehicle sensor.

[0030] In a third aspect, the present invention further provides a computer device, comprising a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the steps of the vehicle sensor position control method of the second aspect or the first embodiment of the second aspect by executing the computer instructions.

[0031] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle sensor position control method of the second aspect or the first embodiment of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is a structural schematic diagram of a vehicle sensor position control device proposed according to an exemplary embodiment;

[0034] Figure 2 Two working states of a vehicle sensor position control device proposed according to an exemplary embodiment;

[0035] Figure 3 is a schematic diagram of a partial arc rack in a vehicle sensor position control device according to an exemplary embodiment;

[0036] Figure 4 is a schematic structural diagram of a vehicle sensor position control system proposed according to an exemplary embodiment;

[0037] Figure 5 is a flow chart of a vehicle sensor position control method proposed according to an exemplary embodiment;

[0038] Figure 6 It is a schematic diagram of the hardware structure of a computer device proposed according to an exemplary embodiment. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0040] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] In order to expand the vehicle's perception range of the surrounding environment, self-driving cars often use multiple vehicle sensor layout methods to achieve this. The more sensors there are, the larger the vehicle's external perception range is, and the safer the vehicle is. However, the multi-sensor layout has the disadvantages of high value and high cost.

[0042] Figure 1 FIG. 1 is a schematic diagram of a vehicle sensor position control device according to an exemplary embodiment. Figure 1 As shown, the vehicle sensor position control device includes:

[0043] The vehicle sensor 1 is used to obtain environmental information.

[0044] In one example, the vehicle sensor 1 may be but is not limited to a lidar sensor, and the environmental information includes but is not limited to position information and speed information of external objects.

[0045] The position sensor 2 is used to collect the position information of the vehicle sensor 1.

[0046] In one example, the position information of the vehicle sensor 1 refers to the position of the vehicle sensor 1 relative to the vehicle.

[0047] The controller 3 is connected to the position sensor 2 and is used to obtain the position information and the target position information of the vehicle sensor 1, and control the vehicle sensor 1 to move to the target position according to the position information and the target position information, so that the detection range of the vehicle sensor 1 meets the vehicle perception requirements. The target position information is determined according to the current speed of the vehicle.

[0048] In one example, the target position information of the vehicle sensor 1 refers to the target position of the vehicle sensor 1 relative to the vehicle.

[0049] Specifically, the vehicle sensor position control device is used to make the vehicle sensor 1 be at different positions when the vehicle speed is different, thereby changing the detection range of the vehicle sensor 1. When the vehicle sensor 1 is at different target positions, the horizontal inclination angle is different, and the current speed of the vehicle and the horizontal inclination angle are negatively correlated, that is, the greater the vehicle speed, the smaller the inclination angle of the vehicle sensor 1.

[0050] Through the above device, the detection range of the vehicle sensor 1 is changed by changing the position of the vehicle sensor 1, thereby reducing the number of vehicle sensors without reducing the perception range of the vehicle sensors.

[0051] In one example, the vehicle sensor position control device also includes: a drive motor and a transmission mechanism, the vehicle sensor 1 is fixed on the transmission mechanism, the controller 3 is used to send control instructions to the drive motor according to the position information and the target position information of the vehicle sensor 1; the drive motor is used to generate rotational motion according to the control instructions; the transmission mechanism is used to convert the rotational motion into linear displacement and angular displacement to move the vehicle sensor 1 to the target position.

[0052] In one example, environmental information includes position information of external objects. Vehicle sensor 1 sends the position information of the external objects to a vehicle-mounted computer, and position sensor 2 sends the position information of vehicle sensor 1 to the vehicle-mounted computer, so that the vehicle-mounted computer compensates for the position information of the external objects according to the position information of vehicle sensor 1 to obtain compensated position information of the external objects.

[0053] In another example, the environmental information includes speed information of external objects, and the vehicle sensor position control device also includes: a speed sensor, used to obtain the speed information of the vehicle sensor 1, and send the speed information to the vehicle-mounted computer, so that the vehicle-mounted computer compensates for the speed information of the external object according to the current speed of the vehicle and the speed information of the vehicle sensor 1, and obtains the compensated speed information of the external object.

[0054] The position sensor 2 not only improves the stability and accuracy of position control, but also compensates for the vehicle sensor 1 in detecting the speed and position of external objects, and corrects the detection speed and position deviation caused by the movement of the vehicle sensor 1 itself.

[0055] Of course, in the above embodiments, the target position calculation and compensation calculation can be completed by, but not limited to, an on-board computer, and can also be a controller or other devices with computing functions.

[0056] In another example, the vehicle sensor position control device further includes a fixed frame, and the position sensor 2, the controller 3, the drive motor, and the transmission mechanism are fixed on the fixed frame, and the fixed frame is placed on the top of the vehicle.

[0057] When the vehicle sensor 1 is located at different positions of the fixed frame, the horizontal inclination angle of the vehicle sensor 1 is different, thereby changing the detection range of the vehicle sensor 1 .

[0058] Figure 2 These are two working states when the vehicle sensor 1 is located at different positions in a vehicle sensor position control device proposed according to an exemplary embodiment.

[0059] When a vehicle passes through a high-precision positioning device and the locator is in a highway motor vehicle lane, expressway, etc., the vehicle is in a high-speed driving state most of the time. Pedestrians and non-motor vehicles will not appear in this area. The vehicle has a greater need to sense the surrounding vehicles farther away. The on-board computer issues a command to control the vehicle sensor 1 to move to the position of the vehicle sensor through the vehicle sensor position control device. Figure 2 Position 1 in the middle, so that the detection range of the vehicle sensor 1 covers a position far away from the front of the vehicle, meeting the safety requirements of high-speed driving of the vehicle.

[0060] When a vehicle is located by a high-precision positioning device in areas such as highway auxiliary roads, community parking lots, rural roads, and small alleys, the vehicle is in a low-speed driving state most of the time. Pedestrians and non-motor vehicles are more likely to appear in the above areas, and they have a strong need to perceive obstacles near the front of the vehicle. The on-board computer issues a command to control the vehicle sensor 1 to move to the position of the vehicle sensor through the vehicle sensor position control device. Figure 2 Position 2 in the middle makes the detection range of the vehicle sensor 1 cover a position closer to the front of the vehicle, meeting the safety requirements of the vehicle driving at low speed.

[0061] When transitioning from a low-speed driving scenario to a high-speed driving scenario, under the condition of vehicle driving, when the vehicle sensor position control device controls the movement of the vehicle sensor 1, this process is a state that existing autonomous driving vehicles do not have, and the embodiment is called a "transition process state."

[0062] In the transition process state, since the vehicle sensor 1 is moving (including linear displacement and / or angular displacement), the vehicle sensor 1 is moving relative to the vehicle, and the detection of the external moving object by the vehicle sensor 1 needs to be compensated in combination with the movement of the vehicle sensor 1, wherein the detection data includes the position and speed of the external moving object, and the compensation formula is:

[0063] The speed of the external object = the speed of the vehicle + the speed of the moving object detected by the vehicle sensor + the speed of the vehicle sensor relative to the vehicle.

[0064] External object position = vehicle sensor detected motion position + vehicle sensor motion position.

[0065] Figure 3 is a schematic diagram of a partial arc frame in a vehicle sensor position control device according to an exemplary embodiment. Figure 3 The fixed frame shown is a partial arc frame, which includes a horizontal portion and an arc portion. When the vehicle sensor 1 moves in the horizontal portion of the partial arc frame, the inclination angle of the vehicle sensor 1 does not change. When the vehicle sensor 1 moves in the arc portion of the partial arc frame, the horizontal inclination angle of the vehicle sensor 1 at different positions is different.

[0066] Figure 3 The frame shown is a partial arc frame of 60 degrees. When the vehicle sensor 1 moves on the arc frame, the horizontal inclination angle of the vehicle sensor 1 can be adjusted within the range of 0 to 60 degrees.

[0067] Assuming that the maximum horizontal detection distance of the vehicle sensor 1 is 50 meters, the maximum detection range thereof when the horizontal inclination angle is 60 degrees is 25 meters.

[0068] Based on the detection distance and braking distance of the vehicle at the maximum angle of 90 degrees at different speeds, the sensor detection distance requirements of the vehicle at different speeds can be evaluated. The specific requirements are:

[0069] Vehicle sensor detection distance>(vehicle sensor data collection time + obstacle perception and recognition time + vehicle braking delay time)*vehicle speed+0.5*vehicle speed*vehicle speed / vehicle maximum braking deceleration.

[0070] According to the above inequality requirements, it can be known that the greater the vehicle speed, the smaller the sensor inclination angle. The relationship between vehicle speed and sensor horizontal inclination angle is as follows:

[0071] Sensor tilt angle = K / vehicle speed, or sensor tilt angle = K*log a(vehicle speed) (a<1); any relationship in the form of a decreasing function can be called a quantitative control algorithm for sensor tilt angle control.

[0072] Figure 4 It is a schematic diagram of the structure of a vehicle sensor position control system proposed according to an exemplary embodiment.

[0073] The system includes: a vehicle sensor 1, which is used to obtain environmental information; a position sensor 2, which is used to collect the position information of the vehicle sensor 1; a controller 3, which is connected to the position sensor 2 and is used to obtain the position information and the target position information of the vehicle sensor 1, and control the vehicle sensor 1 to move to the target position according to the position information and the target position information, so that the detection range of the vehicle sensor 1 meets the vehicle perception requirements; an on-board computer 4, which is used to determine the target position information according to the current speed of the vehicle and to perform compensation calculations on the external motion speed information and position information.

[0074] By making full use of the limited number of sensors on the vehicle, the vehicle sensors are controlled to be in different positions in different vehicle operation scenarios, so that the perception range of the vehicle sensors meets the requirements of safe driving of the vehicle, and the effect of multi-sensor layout is achieved. This reduces the cost of the vehicle sensor. For example, the cost of LiDAR can be reduced by 50%, and the data processing burden of the perception system is also reduced by 50%; the complexity of the vehicle electrical architecture is reduced by 60%.

[0075] Based on the same inventive concept, the present invention also provides a vehicle sensor position control method. Figure 5 is a flow chart of a vehicle sensor position control method proposed according to an exemplary embodiment, which is used in the vehicle sensor position control device in the above embodiment, and the method includes:

[0076] Step S101: Acquire the position information of the vehicle sensor and the target position information of the vehicle sensor.

[0077] Specifically, obtaining the position information of the vehicle sensor is the current position information of the vehicle sensor. While obtaining the position information improves the stability and accuracy of position control, it can also compensate for the vehicle sensor when detecting external objects and correct the detection speed and position deviation caused by the movement of the vehicle sensor itself.

[0078] Step S102: Control the vehicle sensor to reach the target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle perception requirements. The target position information is determined according to the current speed of the vehicle.

[0079] Specifically, the position of the vehicle sensor is changed so that it has different detection ranges, thereby meeting the vehicle perception requirements.

[0080] In one example, the horizontal inclination angles of the vehicle sensor at different target positions are different, and the current speed of the vehicle is negatively correlated with the horizontal inclination angle, that is, the greater the vehicle speed, the smaller the inclination angle of the vehicle sensor.

[0081] Through the above method, when the vehicle is at different speeds, the vehicle sensor is at different positions, so that the detection range of the vehicle sensor meets the vehicle perception requirements.

[0082] Figure 6 FIG. 1 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment. Figure 6 As shown, the device includes one or more processors 610 and a memory 620, and the memory 620 includes a persistent memory, a volatile memory, and a hard disk. Figure 6 A processor 610 is taken as an example. The device may further include: an input device 630 and an output device 640.

[0083] The processor 610, the memory 620, the input device 630 and the output device 640 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0084] The processor 610 may be a central processing unit (CPU). The processor 610 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips. A general-purpose processor may be a microprocessor or the processor may be any conventional processor.

[0085] The memory 620 is a non-transient computer-readable storage medium, including a persistent memory, a volatile memory, and a hard disk, and can be used to store non-transient software programs, non-transient computer executable programs, and modules, such as program instructions / modules corresponding to the vehicle sensor position control method in the embodiment of the present application. The processor 610 executes various functional applications and data processing of the server by running the non-transient software programs, instructions, and modules stored in the memory 620, that is, implementing any of the above-mentioned vehicle sensor position control methods.

[0086] The memory 620 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data required for use, etc. In addition, the memory 620 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 620 may optionally include a memory remotely arranged relative to the processor 610, and these remote memories may be connected to the data processing device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0087] The input device 630 can receive input digital or character information and generate signal input related to user settings and function control. The output device 640 can include display devices such as display screens.

[0088] One or more modules are stored in the memory 620, and when executed by one or more processors 610, the execution is as follows: Figure 5 The method shown.

[0089] The above-mentioned product can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to Figure 5 Related description of the illustrated embodiment.

[0090] The embodiment of the present invention also provides a non-transitory computer storage medium, which stores computer executable instructions, and the computer executable instructions can execute the authentication method in any of the above method embodiments. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memory.

[0091] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0092] The above is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features applied herein.

Claims

1. A vehicle sensor position control device, characterized in that: The device comprises: a transmission mechanism and a fixed frame; A vehicle sensor, used to obtain environmental information, fixed on the transmission mechanism, wherein the environmental information includes speed information of external objects; A position sensor, used to collect position information of the vehicle sensor; a controller connected to the position sensor, and configured to obtain the position information and the target position information of the vehicle sensor, and control the transmission mechanism to drive the vehicle sensor to move to the target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle perception requirement, wherein the target position information is determined according to the current speed of the vehicle; A speed sensor, used to obtain speed information of the vehicle sensor, and send the speed information to a vehicle-mounted computer, so that the vehicle-mounted computer compensates the speed information of the external object according to the current speed of the vehicle and the speed information of the vehicle sensor, to obtain compensated speed information of the external object; The position sensor, the controller and the transmission mechanism are fixed on a fixed frame, and the fixed frame is placed on the top of a vehicle. When the vehicle sensor is located at different positions of the fixed frame, the horizontal inclination angle of the vehicle sensor is different.

2. The device according to claim 1, characterized in that The device also includes: a driving motor fixed on the fixed frame, The controller is used to send a control instruction to the drive motor according to the position information and the target position information of the vehicle sensor; The driving motor is used to generate rotational motion according to the control instruction; The transmission mechanism is used to convert the rotational motion into linear displacement and angular displacement, so as to move the vehicle sensor to the target position.

3. The device according to claim 1, characterized in that The environmental information includes location information of external objects. The vehicle sensor sends the position information of the external object to the vehicle computer, and the position sensor sends the position information of the vehicle sensor to the vehicle computer, so that the vehicle computer compensates the position information of the external object according to the position information of the vehicle sensor to obtain the compensated position information of the external object.

4. A vehicle sensor position control method, characterized in that: Used in the vehicle sensor position control device according to any one of claims 1 to 3, the method comprising: Acquiring position information of a vehicle sensor and target position information of the vehicle sensor; The vehicle sensor is controlled to reach the target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle perception requirement, and the target position information is determined according to the current speed of the vehicle.

5. The method according to claim 4, characterized in that The vehicle sensor has different horizontal inclination angles at different target positions, and the current speed of the vehicle is negatively correlated with the horizontal inclination angle.

6. A computer device, characterized in that: It comprises a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the steps of the vehicle sensor position control method according to claim 4 or 5 by executing the computer instructions.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the vehicle sensor position control method according to claim 4 or 5 are implemented.

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