An autonomous driving assistance system, method, device, equipment and storage medium

Abstract

The present invention discloses an autonomous driving assistance system, method, device, equipment and storage medium. The system includes a lidar, a digital-to-analog conversion circuit, a voltage comparison circuit and a camera. The lidar generates an encoded signal according to the position information scanned by itself and sends the encoded signal to the digital-to-analog conversion circuit. The digital-to-analog conversion circuit is used to convert the received encoded signal into a linear analog voltage signal and send the linear analog voltage signal to each voltage comparison circuit. The voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving it. When it is determined that the voltage value is within its own threshold range, a trigger signal is sent to the connected camera to enable the camera to perform image acquisition. Signal conversion can be completed through a hardware circuit, converting the processing of the encoded signal into the processing of the linear analog voltage signal, improving the accuracy of signal processing, with high reliability, low cost and low abnormality rate.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving, and in particular, to an autonomous driving assistance system, method, device, equipment and storage medium. Background Art

[0002] An autonomous driving vehicle obtains surrounding environment information through various sensors installed on the vehicle. Among the commonly used sensors, there are lidar and cameras. It is necessary to synchronize the lidar and the camera to fuse the data collected by both.

[0003] Currently, the way to synchronize the lidar and the camera is usually to use a chip with the function of processing signals through software, such as an MCU (microcontroller chip) or an FPGA (programmable logic chip), to calculate and process the signals sent by the lidar, obtain a synchronization signal to trigger the corresponding camera to work, so as to complete the synchronization. However, since both the MCU and the FPGA rely on the internal software processing function to process signals, faults are likely to occur. When the MCU or the FPGA has abnormal functions, power interruption, reset and restart and other abnormalities, the synchronization signal between the lidar and the camera will be lost, resulting in the failure of synchronizing the lidar and the camera, which will bring great safety risks to the autonomous driving system. Summary of the Invention

[0004] The present invention provides an autonomous driving assistance system, method, device, equipment and storage medium to solve the problem that the current synchronization of the lidar and the camera relying on software is prone to abnormalities, and realizes the stable synchronization of the lidar and the camera through an autonomous driving assistance system relying on a hardware circuit.

[0005] According to one aspect of the present invention, an autonomous driving assistance system is provided. The system includes a lidar, a digital-to-analog conversion circuit, a plurality of voltage comparison circuits and a multi-channel camera. The lidar is connected to the digital-to-analog conversion circuit, the digital-to-analog conversion circuit is respectively connected to each of the voltage comparison circuits, and each of the voltage comparison circuits is correspondingly connected to each camera in the multi-channel camera. Among them,

[0006] The lidar generates an encoded signal according to the position information scanned by itself and sends the encoded signal to the digital-to-analog conversion circuit;

[0007] The digital-to-analog conversion circuit is used to convert the received encoded signal into a linear analog voltage signal and send the linear analog voltage signal to each of the voltage comparison circuits;

[0008] The voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving the linear analog voltage signal, and when it is determined that the voltage value is within its own threshold range, send a trigger signal to the connected camera;

[0009] The camera is used to perform image acquisition after receiving the trigger signal.

[0010] According to another aspect of the present invention, an autonomous driving assistance method is provided. The method is applied to a digital-to-analog conversion circuit. The digital-to-analog conversion circuit is respectively connected to a plurality of voltage comparison circuits. The digital-to-analog conversion circuit is connected to a lidar. Each of the voltage comparison circuits is correspondingly connected to a multi-channel camera. The method includes:

[0011] Receiving an encoded signal from the lidar;

[0012] Converting the encoded signal into a linear analog voltage signal;

[0013] Sending the linear analog voltage signal to the voltage comparison circuit. The voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving the linear analog voltage signal, and when it is determined that the voltage value is within its own threshold range, send a trigger signal to the connected camera to enable the camera to perform image acquisition.

[0014] According to another aspect of the present invention, an autonomous driving assistance device is provided. The device is applied to a digital-to-analog conversion circuit. The digital-to-analog conversion circuit is respectively connected to a plurality of voltage comparison circuits. The digital-to-analog conversion circuit is connected to a lidar. Each of the voltage comparison circuits is correspondingly connected to a multi-channel camera. The device includes:

[0015] A receiving module, configured to receive an encoded signal from the lidar;

[0016] A conversion module, configured to convert the encoded signal into a linear analog voltage signal;

[0017] A sending module, configured to send the linear analog voltage signal to the voltage comparison circuit. The voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving the linear analog voltage signal, and when it is determined that the voltage value is within its own threshold range, send a trigger signal to the connected camera to enable the camera to perform image acquisition.

[0018] According to another aspect of the present invention, an electronic device is provided. The electronic device includes:

[0019] At least one processor; and

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program executable by the at least one processor. When the computer program is executed by the at least one processor, the at least one processor is enabled to execute an autonomous driving assistance method according to any embodiment of the present invention.

[0022] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement an autonomous driving assistance method according to any embodiment of the present invention when executed.

[0023] An embodiment of the present invention discloses an autonomous driving assistance system, which includes a lidar, a digital-to-analog conversion circuit, a plurality of voltage comparison circuits, and a multi-channel camera. The lidar is connected to the digital-to-analog conversion circuit, the digital-to-analog conversion circuit is respectively connected to each voltage comparison circuit, and each voltage comparison circuit is correspondingly connected to each camera in the multi-channel camera. Among them, the lidar generates a coded signal according to the position information scanned by itself and sends the coded signal to the digital-to-analog conversion circuit. The digital-to-analog conversion circuit is used to convert the received coded signal into a linear analog voltage signal and send the linear analog voltage signal to each voltage comparison circuit. The voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving the linear analog voltage signal, and when it is determined that the voltage value is within its own threshold range, send a trigger signal to the connected camera. The camera is used to perform image acquisition after receiving the trigger signal. Signal conversion can be completed through the hardware circuit, converting the processing of the coded signal into the processing of the linear analog voltage signal, improving the accuracy of signal processing, having high reliability, low cost, and low abnormality rate.

[0024] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a schematic connection diagram of an autonomous driving assistance system provided according to Embodiment 1 of the present invention;

[0027] Figure 2It is a schematic diagram of an autonomous driving assistance system provided according to Embodiment 1 of the present invention;

[0028] Figure 3 It is a flowchart of an autonomous driving assistance method provided according to Embodiment 2 of the present invention;

[0029] Figure 4 It is a schematic structural diagram of an autonomous driving assistance device provided according to Embodiment 3 of the present invention;

[0030] Figure 5 It is a schematic structural diagram of an electronic device for implementing an autonomous driving assistance method according to an embodiment of the present invention. Detailed implementation manners

[0031] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0033] Embodiment 1

[0034] Figure 1 A connection schematic diagram of an autonomous driving assistance system is provided for Embodiment 1 of the present invention.

[0035] LiDAR can scan and collect radar data 360 degrees. Currently, when using a camera to collect image data, in order to make the image data more comprehensive and clear, multiple cameras are used in cooperation for the collection work, that is, each camera has a specified shooting angle and shooting range. Therefore, it is necessary to synchronize the LiDAR and the camera, that is, when the LiDAR scans a certain area, it is necessary to simultaneously trigger the camera responsible for that area to start collecting images, so as to obtain the radar data and image data for that area, and finally fuse the radar data and image data into the information for the autonomous driving system to perceive the environment.

[0036] Currently, when performing synchronization processing based on an MCU or an FPGA chip, the number of received encoding signals is recorded, and the specific scanning position of the LiDAR is determined according to the accumulated number of received encoding signals, so as to drive the corresponding camera to collect images. In this way, once the software inside the chip malfunctions, an accurate accumulated number cannot be obtained, and the camera cannot be accurately synchronized.

[0037] An embodiment of the present invention proposes an autonomous driving assistance system that does not rely on software processing and can synchronize the camera and the LiDAR, realizing the synchronization of the positions when the camera and the LiDAR collect data through a hardware circuit, ensuring the stability of the synchronization between the camera and the LiDAR, and reducing the probability of anomalies occurring.

[0038] The autonomous driving assistance system proposed in the embodiment of the present invention does not require the participation of instruction program execution devices such as an MCU or an FPGA and can operate completely independently. Therefore, in addition to being able to complete the synchronization of the positions when the LiDAR and the camera collect data through this system to replace the existing method, it can also be used as a backup system for the existing method, that is, when using an MCU or an FPGA to complete the synchronization of the positions when the LiDAR and the camera collect data according to the existing method, when the MCU or the FPGA malfunctions, the autonomous driving assistance system proposed in this embodiment can take over the work.

[0039] As Figure 1 shown, the system includes a LiDAR, a digital-to-analog conversion circuit, a plurality of voltage comparison circuits, and a multi-channel camera. The LiDAR is connected to the digital-to-analog conversion circuit, the digital-to-analog conversion circuit is respectively connected to each voltage comparison circuit, and each voltage comparison circuit is correspondingly connected to each camera in the multi-channel camera. Among them,

[0040] The LiDAR generates an encoding signal according to its own scanned position information and sends the encoding signal to the digital-to-analog conversion circuit;

[0041] The digital-to-analog conversion circuit is used to convert the received encoding signal into a linear analog voltage signal and send the linear analog voltage signal to each voltage comparison circuit;

[0042] The voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving it, and when it determines that the voltage value is within its own threshold range, it sends a trigger signal to the connected camera;

[0043] The camera is used to perform image acquisition after receiving the trigger signal.

[0044] During the scanning process, the lidar can emit a coded signal according to its own scanning position information. Exemplarily, the lidar emits a coded signal every 0.05 degrees of rotation during the scanning process. Since the lidar emits the coded signal according to the scanning position information, the coded signal changes discontinuously over time, that is, it belongs to a digital signal. Exemplarily, in a specific implementation, the operation to trigger the lidar to start scanning can be the activation of autonomous driving, that is, the lidar can be used during the autonomous driving process.

[0045] The digital-to-analog conversion circuit receives the coded signal from the lidar in real time, and can convert the coded signal belonging to the digital signal into a linear analog voltage signal. The linear analog voltage signal belongs to a voltage signal that changes continuously over time and is a signal that changes linearly over time.

[0046] After the digital-to-analog conversion circuit converts the coded signal into a linear analog voltage signal, the linear analog voltage signal can represent the voltage value corresponding to each moment. The voltage value corresponding to each moment of the linear analog voltage signal can determine the specific angle scanned by the lidar at that moment according to the pre-calibrated corresponding relationship. For example, in the pre-calibrated relationship, it can be pre-set that when the voltage value is 5V, it indicates that the angle passed by the current lidar starting from the starting point is 5 degrees.

[0047] As Figure 1 shown, the digital-to-analog conversion circuit is connected to multiple voltage comparison circuits, and each voltage comparison circuit is respectively connected to a corresponding camera. After each voltage comparison circuit receives the linear analog voltage signal, it will determine the voltage value corresponding to the current linear analog voltage signal, and compare the voltage value corresponding to the current linear analog voltage signal with the threshold range set in advance by itself. The threshold ranges of different voltage comparison circuits are not the same. If the current voltage value is within the threshold range of a certain voltage comparison circuit, then that voltage comparison circuit can send a trigger signal to the connected camera to start the camera for image acquisition.

[0048] The threshold range of each voltage comparison circuit is determined according to the specific position responsible by the camera connected thereto. Since the voltage value can indicate the rotation angle during the rotation and scanning of the lidar, therefore, the camera corresponding to the scanned area of the lidar can also be determined through the current voltage value. Then, when the current voltage value meets the threshold range of one of the voltage comparison circuits, the corresponding camera is triggered to collect images, thereby realizing the synchronization between the lidar and the camera.

[0049] In one embodiment, the lidar is further configured to send a reset signal to the analog-to-digital conversion circuit when a scan cycle is completed;

[0050] The analog-to-digital conversion circuit is further configured to perform a reset process on the linear analog voltage signal when receiving the reset signal.

[0051] When the lidar starts scanning from the starting scan point and completes a scan cycle, it will start the next scan cycle from the starting scan point again. In each scan cycle of the lidar, at the same angular position, the corresponding camera is consistent with other scan cycles.

[0052] When a scan cycle is completed, a reset signal can be sent to the analog-to-digital conversion circuit. After receiving the reset signal, the analog-to-digital conversion circuit can perform a reset process on the previously generated linear analog voltage signal. Specifically, it can be zeroed. After zeroing the previously obtained linear analog voltage signal, the analog-to-digital conversion circuit can re-real-time generate a linear analog voltage signal from zero in a new scan cycle of the lidar. In a specific implementation, the linear analog voltage signal can be a positive voltage signal or a positive and negative voltage signal.

[0053] In one embodiment, the autonomous driving assistance system further includes a Hall switch and a magnet for triggering the Hall switch. The lidar includes a rotating component, and the rotating component is configured to perform a 360-degree horizontal rotation during scanning to enable the lidar to achieve panoramic scanning. The magnet is mounted on the rotating component. Specifically, the lidar is configured to:

[0054] When receiving an induction signal from the Hall switch, determine that a scan cycle is currently completed. The induction signal is sent by the Hall switch when it senses that the magnet rotates to its own position.

[0055] When the lidar realizes a 360-degree panoramic horizontal scan, it can be completed through the rotating component. One scan cycle of the lidar can be a scan that completes one 360-degree rotation.

[0056] When determining whether a Hall switch has completed a scanning cycle, an inductive Hall switch can be utilized. Since the Hall switch can emit an induction signal when it senses a specified magnet, the magnet can be installed on a rotating component, and the Hall switch can be fixedly installed at a position other than the rotating component, and it is ensured that when the magnet rotates with the rotating component, there will be a moment when it rotates to the position where the Hall switch is located. Before the rotating part starts to rotate, the coincidence of the positions of the Hall switch and the magnet can be taken as the starting point of rotation. When the rotating component starts to rotate and the lidar starts to scan at various angles, if the Hall switch senses the magnet, it sends an induction signal to the lidar, indicating that the rotating component has completed a 360-degree rotation at this time, that is, the lidar has completed a scanning cycle.

[0057] In addition, it is also possible to determine the completion of a 360-degree rotation by installing an angle sensor, etc. in the rotating component.

[0058] In one embodiment, the encoded signal is a pulse waveform signal, and the digital-to-analog conversion circuit is specifically configured to:

[0059] Receive the pulse waveform signal;

[0060] Determine the analog value corresponding to the high level in the pulse waveform signal;

[0061] Determine the number of high levels present in the currently received pulse waveform signal;

[0062] Calculate the product of the analog value and the number, and determine the obtained product as the linear analog voltage signal.

[0063] The encoded signal can be a pulse waveform signal. Exemplarily, the lidar can be set such that in each scanning cycle, every time a specified angle is scanned, a high level of a pulse waveform signal is output to the digital-to-analog conversion circuit. For example, a high level of a pulse waveform signal is emitted every time 0.05 degrees is scanned.

[0064] When the digital-to-analog conversion circuit converts the received pulse waveform signal, which belongs to a digital signal, into a linear analog voltage signal, which belongs to an analog signal, the analog values corresponding to the high level and the low level in the pulse waveform signal can be preset. For example, the analog value of a high level is 1V, and the analog value of a low level is 0V.

[0065] When determining the linear analog voltage signal, it can be done by first determining the number of high levels present in the currently received pulse waveform signal, and then calculating the product of the preset analog value corresponding to the high level and the number of high levels present, and determining the obtained product as the linear analog voltage signal. After determining the current linear analog voltage signal, it can be kept unchanged until the next high level appears.

[0066] In one embodiment, the voltage comparison circuit is further configured to determine whether the corresponding camera is in an operating state when it is determined that the voltage value is not within its own threshold range. If so, the camera is turned off.

[0067] The digital-to-analog conversion circuit can send the linear analog voltage signal to each voltage comparison circuit in real time. The voltage comparison circuit can determine the voltage value of the currently received linear analog voltage signal in real time and compare it with its own threshold range. When it is determined that the voltage value is not within its own threshold range, it means that the camera currently connected to itself should be in a non-operating state. Determine whether the corresponding camera is in an operating state. If it is in a non-operating state, no operation is performed. If it is in an operating state, the corresponding camera is turned off.

[0068] When a voltage comparison circuit turns off its corresponding camera, the voltage value at this time can fall within the threshold range of another voltage comparison circuit, enabling another camera to perform image acquisition.

[0069] In one embodiment, the autonomous driving assistance system further includes a waveform shaping circuit, and the waveform shaping circuit is respectively connected to the lidar and the digital-to-analog conversion circuit;

[0070] The lidar is further configured to send the signal to the waveform shaping circuit before sending the signal to the digital-to-analog conversion circuit;

[0071] The waveform shaping circuit is configured to filter the signal and send the filtered signal to the digital-to-analog conversion circuit, where the filtering process includes one or a combination of the following: waveform shaping, signal noise filtering.

[0072] The signals sent from the lidar to the waveform shaping circuit may include an encoded signal and a reset signal. Both the encoded signal and the reset signal can be pulse waveform signals. When the reset signal is a pulse waveform signal, it can be the high level of a pulse waveform signal sent by the lidar every time a scanning cycle is completed.

[0073] The waveform shaping circuit can be one or more. It can be that one waveform shaping circuit processes multiple signals, or one waveform shaping circuit only processes one signal.

[0074] Reference Figure 2 to a schematic diagram of an autonomous driving assistance system. When both the encoded signal and the reset signal are pulse waveform signals, the pulse waveform signal output from the lidar may have an uneven waveform and signal noise, that is, the presence of noise. As Figure 2 can be seen from the encoded signal a and the reset signal b in, the pulse waveform is not flat.

[0075] After the lidar emits the encoded signal a and the reset signal b, they can be input into the waveform shaping circuit. The waveform shaping circuit can perform waveform shaping and signal noise filtering on the signals, and can form a square wave signal with the same frequency, no waveform distortion, and no noise, such as Figure 2 the encoded signal c processed by the waveform shaping circuit in

[0076] After receiving the encoded signal c, the digital-to-analog conversion circuit (DAC) can convert the encoded signal into a linear analog voltage signal c. In a scanning cycle of the lidar, as the scanning angle of the lidar increases, the high level in the output pulse waveform signal also increases, and the linear analog voltage signal generated by the digital-to-analog conversion circuit in real time will increase linearly over time, as shown by the linear analog voltage signal c.

[0077] When the digital-to-analog conversion circuit receives the reset signal d, it can reset the linear analog voltage signal. When resetting, it can be reset to zero, and start calculating the product of the high-level analog value and the number of high levels from zero again.

[0078] An embodiment of the present invention discloses an autonomous driving assistance system, which includes a lidar, a digital-to-analog conversion circuit, several voltage comparison circuits, and a multi-channel camera. The lidar is connected to the digital-to-analog conversion circuit, the digital-to-analog conversion circuit is respectively connected to each voltage comparison circuit, and each voltage comparison circuit is correspondingly connected to each camera in the multi-channel camera. Among them, the lidar generates an encoded signal according to its own scanned position information and sends the encoded signal to the digital-to-analog conversion circuit. The digital-to-analog conversion circuit is used to convert the received encoded signal into a linear analog voltage signal and send the linear analog voltage signal to each voltage comparison circuit. The voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving the linear analog voltage signal, and when it determines that the voltage value is within its own threshold range, it sends a trigger signal to the connected camera. The camera is used to perform image acquisition after receiving the trigger signal. Through the hardware circuit, the signal conversion can be completed, and the processing of the encoded signal can be converted into the processing of the linear analog voltage signal, improving the accuracy of signal processing, with high reliability, low cost, and low abnormality rate.

[0079] Embodiment 2

[0080] Figure 3 is a flowchart of an autonomous driving assistance method provided by Embodiment 2 of the present invention, as Figure 3 shown. This method is applied to the digital-to-analog conversion circuit. The digital-to-analog conversion circuit is respectively connected to multiple voltage comparison circuits, the digital-to-analog conversion circuit is connected to the lidar, and each voltage comparison circuit is correspondingly connected to the multi-channel camera. This method includes:

[0081] S310, receiving an encoded signal from the lidar;

[0082] S320 converts the encoded signal into a linear analog voltage signal;

[0083] S330 sends the linear analog voltage signal to a voltage comparison circuit. The voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving it, and when it determines that the voltage value is within its threshold range, it sends a trigger signal to the connected camera to enable the camera to perform image acquisition.

[0084] When receiving an encoded signal from the lidar, the encoded signal can be converted into a linear analog voltage signal. Specifically, the encoded signal can be a digital voltage signal that is not continuous over time, and the linear analog voltage signal can be an analog voltage signal that changes continuously over time.

[0085] The digital-to-analog conversion circuit can convert the encoded signal into a linear analog voltage signal by converting the digital signal into an analog signal.

[0086] Send the linear analog voltage signal to the voltage comparison circuit. After receiving the linear analog voltage signal, the voltage comparison circuit can determine the voltage value of the current linear analog voltage signal, judge whether the voltage value is within its threshold range. If it determines that the voltage value is within its threshold range, it can send a trigger signal to the connected camera. After receiving the trigger signal, the camera can perform image acquisition.

[0087] An embodiment of the present invention discloses an autonomous driving assistance method. This method is applied to a digital-to-analog conversion circuit. The digital-to-analog conversion circuit is respectively connected to multiple voltage comparison circuits. The digital-to-analog conversion circuit is connected to the lidar, and each voltage comparison circuit is correspondingly connected to multiple cameras. The method includes: receiving an encoded signal from the lidar, converting the encoded signal into a linear analog voltage signal, sending the linear analog voltage signal to the voltage comparison circuit. The voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving it, and when it determines that the voltage value is within its threshold range, it sends a trigger signal to the connected camera to enable the camera to perform image acquisition, achieving the synchronization of the positions of the camera and the lidar during data acquisition through a hardware circuit, ensuring the stability of the synchronization between the camera and the lidar, reducing the probability of abnormal occurrences, having high reliability and low cost.

[0088] Embodiment III

[0089] Figure 4Schematic diagram of a structure of an automatic driving assistance device provided in Embodiment 3 of the present invention. This device is applied to a digital-to-analog conversion circuit. The digital-to-analog conversion circuit is respectively connected to a plurality of voltage comparison circuits. The digital-to-analog conversion circuit is connected to a lidar. Each of the voltage comparison circuits is correspondingly connected to a multi-channel camera. The device includes the following modules:

[0090] A receiving module 410, configured to receive an encoded signal from the lidar;

[0091] A conversion module 420, configured to convert the encoded signal into a linear analog voltage signal;

[0092] A transmitting module 430, configured to transmit the linear analog voltage signal to the voltage comparison circuit. The voltage comparison circuit is configured to determine a voltage value of the linear analog voltage signal after receiving the linear analog voltage signal, and when it is determined that the voltage value is within its own threshold range, send a trigger signal to the connected camera to enable the camera to perform image acquisition.

[0093] An automatic driving assistance device provided in an embodiment of the present invention can implement an automatic driving assistance method provided in Embodiment 2 of the present invention, and has functional modules and beneficial effects corresponding to the execution of the method.

[0094] Embodiment 4

[0095] Figure 5 The schematic diagram of the structure of an electronic device 10 that can be used to implement the embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0096] As Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0097] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0098] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as an autonomous driving assistance method.

[0099] In some embodiments, an autonomous driving assistance method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the autonomous driving assistance method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute an autonomous driving assistance method by any other appropriate means (for example, by means of firmware).

[0100] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0101] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0102] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0103] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0104] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0105] The computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0106] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and this is not limited herein.

[0107] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An autonomous driving assistance system, characterized in that, the system includes a lidar, a digital-to-analog conversion circuit, a plurality of voltage comparison circuits, and a multi-channel camera. The lidar is connected to the digital-to-analog conversion circuit, the digital-to-analog conversion circuit is respectively connected to each of the voltage comparison circuits, and each of the voltage comparison circuits is correspondingly connected to each camera in the multi-channel camera. Among them, the lidar generates a coded signal according to the position information scanned by itself and sends the coded signal to the digital-to-analog conversion circuit; the digital-to-analog conversion circuit is used to convert the received coded signal into a linear analog voltage signal and send the linear analog voltage signal to each of the voltage comparison circuits; the voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving the linear analog voltage signal, and when it determines that the voltage value is within its own threshold range, it sends a trigger signal to the connected camera; the camera is used to perform image acquisition after receiving the trigger signal.

2. The system according to claim 1, characterized in that, the lidar is further used to send a reset signal to the digital-to-analog conversion circuit when a scanning cycle is completed; the digital-to-analog conversion circuit is further used to perform a reset process on the linear analog voltage signal when receiving the reset signal.

3. The system according to claim 2, characterized in that, the system further includes a Hall switch and a magnet for triggering the Hall switch. The lidar includes a rotating component, and the rotating component is used to perform a 360-degree horizontal rotation during scanning so that the lidar realizes panoramic scanning. The magnet is installed on the rotating component. Specifically, the lidar is used for: when receiving an induction signal from the Hall switch, determining that a scanning cycle is completed currently. The induction signal is sent by the Hall switch when it senses that the magnet rotates to its own position.

4. The system according to any one of claims 1-3, characterized in that, the coded signal is a pulse waveform signal. Specifically, the digital-to-analog conversion circuit is used for: receiving the pulse waveform signal; determining the analog value corresponding to the high level in the pulse waveform signal; determining the number of high levels existing in the currently received pulse waveform signal; calculating the product of the analog value and the number, and determining the obtained product as the linear analog voltage signal.

5. The system according to any one of claims 1-3, characterized in that, the voltage comparison circuit is further used to, when determining that the voltage value is not within its own threshold range, judge whether the corresponding camera is in a working state. If so, turn off the camera.

6. The system according to any one of claims 1-3, characterized in that, the system further includes a waveform shaping circuit, and the waveform shaping circuit is respectively connected to the lidar and the digital-to-analog conversion circuit; the lidar is further used to send the signal to the waveform shaping circuit before sending the signal to the digital-to-analog conversion circuit; The waveform shaping circuit is used to filter the signal and send the filtered signal to the digital-to-analog conversion circuit, where the filtering process includes one or a combination of the following: waveform shaping and signal noise filtering.

7. An autonomous driving assistance method Characterized in that The method is applied to a digital-to-analog conversion circuit, the digital-to-analog conversion circuit is respectively connected to a plurality of voltage comparison circuits, the digital-to-analog conversion circuit is connected to a lidar, and each of the voltage comparison circuits is correspondingly connected to a multi-channel camera. The method includes: Receiving an encoded signal generated by the lidar according to its own scanned position information; Converting the encoded signal into a linear analog voltage signal; Sending the linear analog voltage signal to the voltage comparison circuit, where the voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving the linear analog voltage signal, and when it is determined that the voltage value is within its own threshold range, sending a trigger signal to the connected camera to enable the camera to perform image acquisition.

8. An autonomous driving assistance device Characterized in that The device is applied to a digital-to-analog conversion circuit, the digital-to-analog conversion circuit is respectively connected to a plurality of voltage comparison circuits, the digital-to-analog conversion circuit is connected to a lidar, and each of the voltage comparison circuits is correspondingly connected to a multi-channel camera. The device includes: A receiving module for receiving an encoded signal generated by the lidar according to its own scanned position information; A conversion module for converting the encoded signal into a linear analog voltage signal; A sending module for sending the linear analog voltage signal to the voltage comparison circuit, where the voltage comparison circuit is used to determine the voltage value of the linear analog voltage signal after receiving the linear analog voltage signal, and when it is determined that the voltage value is within its own threshold range, sending a trigger signal to the connected camera to enable the camera to perform image acquisition.

9. An electronic device Characterized in that The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute an autonomous driving assistance method described in claim 7.

10. A computer-readable storage medium Characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement an autonomous driving assistance method described in claim 7 when executed.

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