Control method and device of sensor and sensor

Abstract

The application provides a sensor control method and device and a sensor. The sensor control method comprises: obtaining first indication information, the first indication information being used for indicating a first scene; determining configuration parameters of at least one sensor according to the first indication information, the configuration parameters corresponding to the first scene; and sending the configuration parameters to the at least one sensor. The application can be applied to automatic driving or intelligent driving, and can be used for assisting driving or unmanned driving. Flexible control of the sensor can be realized through configurable parameters of sensors such as radars or cameras, and vehicle external space can be saved.

Description

[0001] This application is a divisional application. The original application has the application number 201910542746.8 and the original application date is June 21, 2019. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to vehicle driving technology, and more particularly to a control method, device, and sensor for a sensor. Background Technology

[0003] Long-range radar (LRR) provides ranging and collision avoidance capabilities and is widely used in adaptive cruise control (ACC), forward collision warning (FCW), and automatic emergency braking (AEB). Mid-range radar (MRR) and short-range radar (SRR) offer blind spot detection (BSD), lane change assist (LCA), rear cross-traffic alert (RCTA), exit assist function (EAF), and forward cross traffic alert (FCTA), accurately detecting targets within a certain range in front of, behind, to the sides of the vehicle. It is evident that different application scenarios have different requirements for radar detection range, and LRR, MRR, and SRR all play important roles in advanced driver assistance systems (ADAS).

[0004] In related technologies, the LRR (Low-Range Detector) is installed at the center of the front bumper of the vehicle with an azimuth angle of 0°. When the height is below 50cm, the elevation angle is set to 1.5°; when the height exceeds 50cm, the elevation angle is set to 0°. This enables moving target detection capabilities of 150 meters for trucks, 100 meters for cars, and 60 meters for pedestrians. The LRR's ACC (Adaptive Cruise Control), FCW (Forward Collision Warning), and AEB (Automatic Emergency Braking) functions provide significant safety alerts when drivers are distracted, fatigued, or using mobile phones and fail to notice the situation ahead. As a typical application in ADAS (Advanced Driver Assistance Systems), SRR (Side-Rate Detector) can effectively reduce the risk factor caused by poor driver visibility in adverse weather conditions such as nighttime, fog, and heavy rain, and avoid potential collisions with adjacent lanes and blind spots during lane changes.

[0005] However, vehicle applications are complex and new applications are constantly emerging. In the future, complex autonomous driving scenarios will require a large number of different types of radars. On the one hand, the external space of a vehicle is limited, making it difficult to install multiple different types of radars for multiple applications at the same time. On the other hand, the increase in the number of different types of radars will increase the complexity of vehicle radar management and control. Summary of the Invention

[0006] This application provides a sensor control method, apparatus, and sensor to improve the flexible control of the sensor and save vehicle exterior space.

[0007] In a first aspect, this application provides a method for controlling a sensor, comprising:

[0008] Obtain first indication information, which is used to indicate a first scenario; determine configuration parameters of at least one sensor based on the first indication information, which correspond to the first scenario; and send the configuration parameters to the at least one sensor.

[0009] This application enables the same sensor to support measurement needs under various conditions while the vehicle is in motion by determining the configuration parameters of the sensor according to the first scenario, thereby improving the flexible control of the sensor and saving external space of the vehicle.

[0010] In one possible implementation, determining the configuration parameters of at least one sensor based on the first indication information includes: generating configuration parameters corresponding to the first scenario; or, determining the configuration parameters based on at least one pre-defined parameter correspondence, wherein the parameter correspondence includes the correspondence between the scenario and the configuration parameters.

[0011] This application allows for the determination of configuration parameters in multiple ways, thus improving flexibility.

[0012] In one possible implementation, the configuration parameters include any one or more of the following parameters: operating mode, measurement cycle, and measurement time.

[0013] In one possible implementation, the method further includes: receiving a capability message sent by the at least one sensor; and determining a set of configuration parameters based on the capability message, wherein the configuration parameters belong to the set of configuration parameters.

[0014] This application determines the sensor's configuration parameters based on the first scenario, and the configuration parameters are configured according to the sensor's capabilities, thus avoiding system malfunctions caused by configuring parameters when the sensor does not support configuration.

[0015] One possible implementation also includes receiving a configuration completion response message.

[0016] Secondly, this application provides a sensor control method, comprising:

[0017] Receive measurement information from at least one sensor; determine a first scenario based on the measurement information; send first indication information, the first indication information being used to indicate the first scenario.

[0018] In one possible implementation, the measurement information includes at least one of speed information, pedestrian detection information, and positioning information; determining the first scene based on the measurement information includes: determining the first scene based on at least one of the speed information, pedestrian detection information, and positioning information.

[0019] Thirdly, this application provides a sensor control method, including:

[0020] The system reports measurement information, including at least one of speed information, pedestrian detection information, and positioning information; receives configuration parameters; and configures the system according to the configuration parameters.

[0021] In one possible implementation, the method further includes sending a capability message, which indicates the functional configuration supported by the sensor.

[0022] In one possible implementation, before sending the capability message, the method further includes: downloading a first version of the software from the server; sending the capability message includes: sending the capability message according to the first version of the software.

[0023] In one possible implementation, the method further includes sending a configuration completion response message, which is used to indicate that the sensor has completed parameter configuration.

[0024] Fourthly, this application provides a control device for a sensor, comprising:

[0025] The module is configured to acquire first indication information, which indicates a first scenario; the module is configured to determine configuration parameters of at least one sensor based on the first indication information, which correspond to the first scenario; and the module is configured to send the configuration parameters to the at least one sensor.

[0026] In one possible implementation, the determining module is specifically used to generate configuration parameters corresponding to the first scenario; or, to determine the configuration parameters according to at least one pre-set parameter correspondence, wherein the parameter correspondence includes the correspondence between the scenario and the configuration parameters.

[0027] In one possible implementation, the configuration parameters include any one or more of the following parameters: operating mode, measurement cycle, and measurement time.

[0028] In one possible implementation, the acquisition module is further configured to receive capability messages sent by the at least one sensor; the determination module is further configured to determine a set of configuration parameters based on the capability messages, wherein the configuration parameters belong to the set of configuration parameters.

[0029] In one possible implementation, the acquisition module is further configured to receive a configuration completion response message.

[0030] Fifthly, this application provides a control device for a sensor, comprising:

[0031] A receiving module is configured to receive measurement information from at least one sensor; a determining module is configured to determine a first scenario based on the measurement information; and a sending module is configured to send first indication information, wherein the first indication information is used to indicate the first scenario.

[0032] In one possible implementation, the measurement information includes at least one of speed information, pedestrian detection information, and positioning information; the determining module is specifically used to determine the first scenario based on at least one of the speed information, pedestrian detection information, and positioning information.

[0033] Sixthly, this application provides a sensor, comprising:

[0034] The sending module is used to report measurement information, which includes at least one of speed information, pedestrian detection information, and positioning information; the receiving module is used to receive configuration parameters; and the configuration module is used to configure according to the configuration parameters.

[0035] In one possible implementation, the sending module is further configured to send a capability message, which indicates the functional configuration supported by the sensor.

[0036] In one possible implementation, the receiving module is further configured to download a first version of the software from the server; the sending module is specifically configured to send the capability message based on the first version of the software.

[0037] In one possible implementation, the sending module is further configured to send a configuration completion response message, which indicates that the sensor has completed parameter configuration.

[0038] Seventhly, this application provides a control device for a sensor, comprising:

[0039] A receiving module is used to receive measurement information from a sensor; a processing module is used to determine a first scenario based on the measurement information and determine configuration parameters of at least one sensor, the configuration parameters corresponding to the first scenario; and a sending module is used to send the configuration parameters to the at least one sensor.

[0040] In one possible implementation, the measurement information includes at least one of speed information, pedestrian detection information, and positioning information; the processing module is specifically configured to determine the first scenario based on at least one of the speed information, pedestrian detection information, and positioning information.

[0041] In one possible implementation, the processing module is specifically used to generate configuration parameters corresponding to the first scenario; or, to determine the configuration parameters according to at least one pre-defined parameter correspondence, wherein the parameter correspondence includes the correspondence between the scenario and the configuration parameters.

[0042] In one possible implementation, the configuration parameters include any one or more of the following parameters: the sensor's operating mode, measurement cycle, and measurement time.

[0043] In one possible implementation, the receiving module is further configured to receive a capability message sent by the sensor; the processing module is further configured to determine a set of configuration parameters based on the capability message, wherein the configuration parameters belong to the set of configuration parameters.

[0044] Eighthly, this application provides a control system for a sensor, comprising: a control device and a sensor, wherein the control device is the device described in any one of the fourth, fifth, and seventh aspects above, and the sensor is the sensor described in any one of the sixth aspects above.

[0045] Ninthly, this application provides a computer-readable storage medium including a computer program that, when executed on a computer, causes the computer to perform the method described in any one of the first to third aspects above.

[0046] In a tenth aspect, this application provides a computer program that, when executed by a computer, performs the method described in any one of the first to third aspects above.

[0047] In one aspect, this application provides a chip including a processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to perform the method described in any one of the first to third aspects above. Attached Figure Description

[0048] Figure 1 This is an exemplary functional block diagram of vehicle 100 according to an embodiment of this application;

[0049] Figure 2 This is an exemplary functional block diagram of a sensor control system according to an embodiment of this application;

[0050] Figure 3 This is a flowchart of a sensor control method according to an embodiment of this application;

[0051] Figure 4 This is another flowchart of the sensor control method according to an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of the control device for the sensor according to an embodiment of this application;

[0053] Figure 6 This is another schematic diagram of the control device for the sensor according to an embodiment of this application;

[0054] Figure 7 This is a schematic diagram of the sensor structure according to an embodiment of this application;

[0055] Figure 8 This is another schematic diagram of the control device for the sensor according to an embodiment of this application;

[0056] Figure 9 This is a schematic diagram of the structure of the control entity of the sensor in an embodiment of this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0058] The terms "first," "second," etc., used in the specification, embodiments, claims, and drawings of this application are for distinguishing purposes only and should not be construed as indicating or implying relative importance or order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as including a series of steps or units. A method, system, product, or apparatus is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0059] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0060] Figure 1 This is an exemplary functional block diagram of vehicle 100 according to an embodiment of this application. For example... Figure 1 As shown, components coupled to or included in vehicle 100 may include a propulsion system 110, a sensor system 120, a control system 130, peripheral devices 140, a power supply 150, a computing device 160, and a user interface 170. Components of vehicle 100 may be configured to operate in a manner interconnected with each other and / or with other components coupled to the respective systems. For example, power supply 150 may provide power to all components of vehicle 100. Computing device 160 may be configured to receive data from and control the propulsion system 110, sensor system 120, control system 130, and peripheral devices 140. Computing device 160 may also be configured to generate an image display on user interface 170 and receive input from user interface 170.

[0061] It should be noted that in other examples, vehicle 100 may include more, fewer, or different systems, and each system may include more, fewer, or different components. Furthermore, the systems and components shown can be combined or divided in any manner, and this application does not impose any specific limitations on this.

[0062] The computing device 160 may include a processor 161, a transceiver 162, and a memory 163. The computing device 160 may be a controller of the vehicle 100 or part of a controller. The memory 163 may store instructions 1631 executed by the processor 161, and may also store map data 1632. The processor 161 included in the computing device 160 may include one or more general-purpose processors and / or one or more special-purpose processors (e.g., image processors, digital signal processors, etc.). Where the processor 161 includes more than one processor, such processors may operate individually or in combination. The computing device 160 can implement functions that control the vehicle 100 based on input received through the user interface 170. The transceiver 162 is used for communication between the computing device 160 and various systems. The memory 163 may further include one or more volatile storage components and / or one or more non-volatile storage components, such as optical, magnetic, and / or organic storage devices, and the memory 163 may be wholly or partially integrated with the processor 161. Memory 163 may contain instructions 1631 (e.g., program logic) that can be executed by processor 161 to perform various vehicle functions, including any of the functions or methods described herein.

[0063] The propulsion system 110 can provide power for the movement of the vehicle 100. For example... Figure 1 As shown, the propulsion system 110 may include an engine / motor 114, an energy source 113, a transmission 112, and wheels / tires 111. Additionally, the propulsion system 110 may additionally or alternatively include components other than those shown. Figure 1 Other components besides those shown. This application does not specifically limit this.

[0064] The sensor system 120 may include several sensors for sensing information about the environment in which the vehicle 100 is located. For example... Figure 1As shown, the sensors in sensor system 120 include a Global Positioning System (GPS) 126, an Inertial Measurement Unit (IMU) 125, a lidar sensor 124, a camera sensor 123, a millimeter-wave radar sensor 122, and a brake 121 for modifying the position and / or orientation of the sensors. GPS 126 can be any sensor used to estimate the geographic location of vehicle 100. For this purpose, GPS 126 may include a transceiver to estimate the position of vehicle 100 relative to the Earth based on satellite positioning data. In this example, computing device 160 may be used to combine map data 1632 with GPS 126 to estimate the road traveled by vehicle 100. IMU 125 can be used to sense changes in the position and orientation of vehicle 100 based on inertial acceleration and any combination thereof. In some examples, the combination of sensors in IMU 125 may include, for example, an accelerometer and a gyroscope. Other combinations of sensors in IMU 125 are also possible. The lidar sensor 124 can be viewed as an object detection system that uses light sensing to detect objects in the environment in which the vehicle 100 is located. Typically, the lidar sensor 124 can utilize optical remote sensing techniques to measure the distance to a target or other properties of the target by illuminating it with light. As an example, the lidar sensor 124 may include a laser source and / or laser scanner configured to emit laser pulses, and a detector for receiving reflections of the laser pulses. For example, the lidar sensor 124 may include a laser rangefinder reflected by a rotating mirror and scans the laser around a digitized scene in one or two dimensions to acquire distance measurements at specified angular intervals. In this example, the lidar sensor 124 may include components such as a light (e.g., laser) source, scanner and optical system, light detector and receiver electronics, and a positioning and navigation system. By scanning the laser reflected back from an object, the lidar sensor 124 can determine the distance to the object, forming a 3D environmental map with accuracy up to the centimeter level. The camera sensor 123 may include any camera (e.g., a still camera, video camera, etc.) for acquiring images of the environment in which the vehicle 100 is located. For this purpose, camera sensor 123 can be configured to detect visible light, or it can be configured to detect light from other parts of the spectrum, such as infrared or ultraviolet light. Other types of camera sensors 123 are also possible. Camera sensor 123 can be a two-dimensional detector, or it can have three-dimensional spatial range detection capabilities. In some examples, camera sensor 123 can be, for example, a distance detector configured to generate a two-dimensional image indicating the distance from camera sensor 123 to several points in the environment. For this purpose, camera sensor 123 can use one or more distance detection techniques.For example, camera sensor 123 can be configured to use structured light technology, in which vehicle 100 illuminates objects in the environment using a predetermined light pattern, such as a grid or checkerboard pattern, and uses camera sensor 123 to detect reflections from the predetermined light pattern on the objects. Based on the distortion in the reflected light pattern, vehicle 100 can be configured to detect the distance to points on the object. The predetermined light pattern may include infrared light or light of other wavelengths. Millimeter-wave radar sensor 122 typically refers to an object detection sensor with a wavelength of 1–10 mm and a frequency range of approximately 10 GHz–200 GHz. The measurements of millimeter-wave radar sensor 122 contain depth information, which can provide the distance to the target; secondly, because millimeter-wave radar sensor 122 has a significant Doppler effect, it is very sensitive to velocity and can directly obtain the velocity of the target. The velocity of the target can be extracted by detecting its Doppler frequency shift. Currently, the two mainstream automotive millimeter-wave radar application frequency bands are 24GHz and 77GHz, respectively. The former has a wavelength of about 1.25cm and is mainly used for short-range perception, such as the vehicle's surrounding environment, blind spots, parking assistance, lane change assistance, etc.; the latter has a wavelength of about 4mm and is used for medium and long-range measurement, such as automatic following, adaptive cruise control (ACC), emergency braking (AEB), etc.

[0065] Sensor system 120 may also include additional sensors, including, for example, sensors that monitor the internal systems of vehicle 100 (e.g., O2 monitor, fuel gauge, oil temperature, etc.). Sensor system 120 may also include other sensors. This application does not specifically limit this.

[0066] The control system 130 can be configured to control the operation of the vehicle 100 and its components. For this purpose, the control system 130 may include a steering unit 136, a throttle 135, a braking unit 134, a sensor fusion algorithm 133, a computer vision system 132, and a navigation / route control system 131. The control system 130 may additionally or alternatively include, in addition to... Figure 1 Other components besides those shown. This application does not specifically limit this.

[0067] Peripheral device 140 can be configured to allow vehicle 100 to interact with external sensors, other vehicles, and / or users. For this purpose, peripheral device 140 may include, for example, a wireless communication system 144, a touchscreen 143, a microphone 142, and / or a speaker 141. Peripheral device 140 may additionally or alternatively include, in addition to... Figure 1 Other components besides those shown. This application does not specifically limit this.

[0068] Power source 150 can be configured to provide power to some or all of the components of vehicle 100. For this purpose, power source 150 may include, for example, rechargeable lithium-ion or lead-acid batteries. In some examples, one or more battery packs may be configured to provide power. Other power materials and configurations are also possible. In some examples, power source 150 and energy source 113 may be implemented together, as in some fully electric vehicles.

[0069] The components of vehicle 100 can be configured to operate in a manner that interconnects with other components within and / or outside their respective systems. For this purpose, the components and systems of vehicle 100 can be communicatively linked together via system buses, networks, and / or other connection mechanisms.

[0070] Figure 2 This is an exemplary functional block diagram of the sensor control system according to an embodiment of this application, such as... Figure 2 As shown. This system can be applied in vehicles or other usage platforms. The following description uses a vehicle as an example. The system includes at least one installed sensor and a sensor control entity. The sensor control entity can further include a sensor management entity and a scene decision entity. The sensor can be... Figure 1 Any one or more sensors in the sensor system 120 shown, the sensor management entity and the scene decision entity can be integrated as a whole into a single physical device, which can be, for example... Figure 1 The computing device 160 shown, the sensor management entity and the scene decision entity can also be two independent physical devices, which can be, for example, Figure 1 The computing device 160 shown, or the two independent physical devices, can be, for example... Figure 1 The computing device 160 shown comprises a processor 161 and a transceiver 162, which share a memory 163. It should be noted that the sensor management entity and scene decision entity of this application can be implemented in any feasible combination, and this application does not impose any specific limitations.

[0071] To better understand the embodiments of this application, the following will be used in conjunction with... Figure 2 The embodiments of this application will be described using systems that are the same as or similar to the system shown.

[0072] Figure 3 This is a flowchart of a sensor control method according to an embodiment of this application, such as... Figure 3 As shown, the method in this embodiment may include:

[0073] Step 301: At least one sensor reports measurement information.

[0074] As described above, in some examples, at least one sensor may include at least one of GPS 126, IMU 125, lidar sensor 124, camera sensor 123, millimeter-wave radar sensor 122, and actuator 121.

[0075] In other examples, the sensor may also include at least one of, for example, an oxygen (O2) monitor, a fuel gauge, an oil temperature gauge, etc.

[0076] For example, GPS 126 can be any sensor used to estimate the geographic location of vehicle 100. IMU 125 can be used to sense changes in the position and orientation of vehicle 100 based on inertial acceleration and any combination thereof. The combination of sensors in IMU 125 can include, for example, accelerometers and gyroscopes. LiDAR sensor 124 can be viewed as an object detection system that uses light to illuminate a target to measure the distance to the target. Camera sensor 123 can include any camera (e.g., a still camera, video camera, etc.) used to acquire images of the environment in which vehicle 100 is located. In some examples, camera sensor 123 can be, for example, a distance detector configured to generate a two-dimensional image indicating the distance from camera sensor 123 to several points in the environment. For this purpose, camera sensor 123 can use one or more distance detection techniques. The measurements of millimeter-wave radar sensor 122 have depth information, which can provide the distance to the target; secondly, because millimeter-wave radar sensor 122 has a significant Doppler effect, it is very sensitive to velocity and can directly obtain the velocity of the target, which can be extracted by detecting its Doppler frequency shift. Currently, the two mainstream automotive millimeter-wave radar application frequency bands are 24GHz and 77GHz, respectively. The former has a wavelength of about 1.25cm and is mainly used for short-range perception, such as the vehicle's surrounding environment, blind spots, parking assistance, lane change assistance, etc.; the latter has a wavelength of about 4mm and is used for medium and long-range measurement, such as automatic following, adaptive cruise control (ACC), emergency braking (AEB), etc.

[0077] As can be seen, by mounting the aforementioned sensors on the vehicle body, measurement information such as the vehicle's latitude and longitude, speed, orientation, and distance to surrounding objects can be acquired in real time or periodically. This measurement information can then be used to achieve assisted driving or autonomous driving. For example, latitude and longitude can be used to determine the vehicle's position, speed and orientation can be used to determine the vehicle's direction and purpose over a future period, or the distance to surrounding objects can be used to determine the number and density of obstacles around the vehicle. The measurement information in this application may include at least one of speed information, pedestrian detection information, and positioning information. Pedestrian detection information may include the number and location of pedestrians in the surrounding environment, pedestrian density, etc., and positioning information may include the latitude and longitude of the current location or the mapping of that latitude and longitude on a map.

[0078] The sensor can periodically take measurements and then report the measurement information to the sensor management entity, which will then forward the measurement information to the scene decision entity, or the sensor can report the information directly to the scene decision entity.

[0079] Step 302: The scenario decision entity determines the first scenario based on the measurement information.

[0080] The first scene represents the environment in which the sensor carrier is located. In some examples, the measurement information reported by the sensor can reflect the position, speed, orientation, and distance of the sensor carrier to surrounding objects. The scene decision entity can pre-classify the measurement information according to different values ​​and assign a name to each category. This establishes a correspondence between the category name and the actual value of the measurement information. For example, different scene names can represent different categories of measurement information. Suppose the scene names include a bustling market scene, a suburban scene, and a highway scene. The measurement information corresponding to a bustling market scene may include, for example, the number of pedestrians around (the number is greater than a first threshold), the distance to the surrounding pedestrians (the distance is less than or equal to a second threshold), the speed (the speed is less than or equal to a third threshold), and the location (the location, combined with map data, can determine that the corresponding road belongs to a bustling urban area). The measurement information corresponding to a suburban scene may include, for example, the number of pedestrians around (the number is less than or equal to a first threshold and greater than a fourth threshold), the distance to the surrounding pedestrians (the distance is greater than a second threshold and less than or equal to a sixth threshold), the speed (the speed is greater than a third threshold and less than or equal to a seventh threshold), and the location (the location, combined with map data, can determine that the corresponding road belongs to a suburban area). The measurement information corresponding to a highway scene may include, for example, the number of pedestrians around (the number is less than or equal to a fourth threshold), the distance to the surrounding pedestrians (the distance is greater than a sixth threshold), the speed (the speed is greater than a seventh threshold), and the location (the location, combined with map data, can determine that the corresponding road belongs to a highway).

[0081] As can be seen, the decision-making entity in a scenario can determine its category, i.e., the name of that category, based on the specific values ​​of the obtained measurement information. In this application, the first scenario is the name of the category to which the specific values ​​of the determined measurement information belong.

[0082] Step 303: The scene decision entity sends a first instruction message to the sensor management entity. The first instruction message is used to indicate the first scene.

[0083] In this application, after the scene decision entity determines the first scene, if the category of the first scene is the same as the category of the previously determined first scene, it indicates that the scene category of the sensor carrier has not changed. Therefore, the scene decision entity can choose not to send the first instruction information, or it can choose to send the first instruction information to the sensor management entity, which will then decide whether to reconfigure the sensor's configuration parameters. When the category of the first scene is different from the category of the previously determined first scene, it indicates that the scene category of the sensor carrier has changed. Therefore, the scene decision entity must send the first instruction information to the sensor management entity to trigger the sensor management entity to reconfigure the sensor's configuration parameters.

[0084] Step 304: The sensor management entity determines the configuration parameters of the sensor based on the first instruction information, and the configuration parameters correspond to the first scenario.

[0085] As described above, the scene decision entity categorizes the measured information based on different values, assigns a name to each category, and establishes a correspondence between category names and actual measured information values. Meanwhile, the sensor management entity pre-establishes a correspondence between category names and sensor configuration parameters. Configuration parameters may include, for example, one or more of the sensor's operating mode, measurement cycle, and measurement time.

[0086] As described above, in some examples, at least one sensor may include at least one of GPS 126, IMU 125, lidar sensor 124, camera sensor 123, millimeter-wave radar sensor 122, and actuator 121.

[0087] In other examples, the sensor may also include at least one of, for example, an O2 monitor, a fuel gauge, an oil temperature gauge, etc.

[0088] Each sensor can be configured with its operating mode, measurement cycle, measurement time, etc. For example, GPS 126 can include a high-precision positioning mode (e.g., accurate to house number) and a low-precision positioning mode (e.g., accurate to road level); IMU 125 and camera sensor 123 can include periodic measurements (e.g., measurements according to a configured measurement cycle) and event-triggered measurements (e.g., measurements triggered by a set event, such as a vehicle speed change exceeding a set threshold); LiDAR sensor 124 and millimeter-wave radar sensor 122 can include LRR mode, MRR mode, and SRR mode, etc. Based on the performance of each of the aforementioned sensors, their operating status can be controlled by configuring parameters.

[0089] For example, different scene names can represent different categories of measurement information. Suppose scene names include a bustling market scene, a suburban scene, and a highway scene. The configuration parameters for a bustling market scene could include GPS 126 operating in high-precision positioning mode, IMU 125 and camera sensor 123 reporting measurement information at fixed intervals according to a set period, and LiDAR sensor 124 and millimeter-wave radar sensor 122 operating in SRR mode. The configuration parameters for a suburban scene could include GPS 126 operating in low-precision positioning mode, IMU 125 reporting measurement information at fixed intervals according to a set period, camera sensor 123 reporting measurement information when a pedestrian is detected within a set range, and LiDAR sensor 124 and millimeter-wave radar sensor 122 operating in MRR mode. The configuration parameters for a highway scene could include GPS 126 operating in low-precision positioning mode, IMU 125 and camera sensor 123 reporting measurement information when a pedestrian or vehicle is detected within a set range, and LiDAR sensor 124 and millimeter-wave radar sensor 122 operating in LRR mode.

[0090] It is evident that the sensor management entity can, based on the correspondence between category names and sensor configuration parameters, either directly generate configuration parameters corresponding to the first scenario after obtaining the first scenario, or query the configuration parameters matching the first scenario in the locally stored configuration parameters according to the correspondence, so that the sensor works in the corresponding manner under the control of the configuration parameters.

[0091] In one possible implementation, after receiving the first instruction information, the sensor management entity can first determine whether the first scene indicated by the first instruction information is the same as the first scene obtained when configuring the sensor's configuration parameters previously. If they are the same, there is no need to reconfigure the sensor's configuration parameters; if they are different, the sensor's configuration parameters need to be reconfigured according to the first scene indicated by the first instruction information. For example, if the first scene obtained when configuring the sensor's configuration parameters previously was a bustling market scene, while the first scene indicated by the first instruction information received this time is a suburban scene, the sensor management entity needs to reconfigure the sensor's configuration parameters according to the suburban scene. Or, if the first scene obtained when configuring the sensor's configuration parameters previously was a highway scene, while the first scene indicated by the first instruction information received this time is a bustling market scene, the sensor management entity needs to reconfigure the sensor's configuration parameters according to the bustling market scene.

[0092] Step 305: The sensor management entity sends the configuration parameters to the sensor.

[0093] Step 306: Configure the sensor according to the configuration parameters.

[0094] After receiving the reconfiguration parameters from the sensor management entity, the sensor completes its own configuration according to the specific values ​​in the configuration parameters. For example, GPS 126 is configured to operate in high-precision positioning mode, IMU 125 and camera sensor 123 report measurement information at fixed intervals according to a set period, and LiDAR sensor 124 and millimeter-wave radar sensor 122 operate in SRR mode; or, GPS 126 operates in low-precision positioning mode, IMU 125 reports measurement information at fixed intervals according to a set period, camera sensor 123 reports measurement information when a pedestrian is detected within a set range, and LiDAR sensor 124 and millimeter-wave radar sensor 122 operate in MRR mode; or, GPS 126 operates in low-precision positioning mode, IMU 125 and camera sensor 123 report measurement information when a pedestrian or vehicle is detected within a set range, and LiDAR sensor 124 and millimeter-wave radar sensor 122 operate in LRR mode.

[0095] It is evident that the sensor can operate with different configuration parameter values ​​to adapt to different scenarios. This control method is flexible, diverse, and highly efficient.

[0096] Step 307: The sensor sends a configuration completion response message to the sensor management entity.

[0097] The sensor notifies the sensor management entity that the parameter configuration is complete via a configuration completion response message. This application, by determining the sensor's configuration parameters based on a first scenario, enables the same sensor to support measurement needs under various conditions during vehicle operation, improving the sensor's flexible control and saving external space in the vehicle.

[0098] Figure 4 This is another flowchart of the sensor control method according to an embodiment of this application, as shown below. Figure 4 As shown, the method in this embodiment may include:

[0099] Step 401: At least one sensor sends a capability message to the sensor management entity.

[0100] Before the system begins operation or when the capabilities of any sensor change, at least one sensor notifies the sensor management entity of its current capabilities, i.e., supported functional configurations. This includes, for example, whether parameter configuration is supported, whether multiple operating modes are supported, and which operating modes and parameter configurations are supported. In some examples, at least one sensor can download a first version of software from a server. This first version of software is superior to the sensor's existing software version. For example, the first version of software may have upgrades in measurement accuracy, algorithms, and / or functionality compared to the existing version. After installing the first version of software, the sensor can upgrade itself. After the upgrade, the sensor sends a capability message to inform the sensor management entity of the supported functional configurations after the upgrade.

[0101] Step 402: The sensor management entity determines the set of configuration parameters based on the capability message.

[0102] Based on the capability messages of at least one sensor, the sensor management entity can determine whether the sensor supports parameter configuration, whether it supports multiple operating modes, and which operating modes and parameter configurations it supports, thereby determining the set of configuration parameters.

[0103] As described above, in some examples, at least one sensor may include at least one of GPS 126, IMU 125, lidar sensor 124, camera sensor 123, millimeter-wave radar sensor 122, and actuator 121.

[0104] In other examples, the sensor may also include at least one of, for example, an O2 monitor, a fuel gauge, an oil temperature gauge, etc.

[0105] Due to limitations in capabilities, the operating modes, measurement cycles, and measurement times supported by each sensor vary. For example, GPS 126 may include a high-precision positioning mode (e.g., accurate to a house number) and a low-precision positioning mode (e.g., accurate to the road level), and may not support mode switching, meaning GPS 126 can only operate in one mode. IMU 125 and camera sensor 123 may support periodic measurements (e.g., measurements based on a configured measurement cycle), event-triggered measurements (e.g., measurements triggered by a set event, such as a vehicle speed change exceeding a set threshold), or only one of the aforementioned measurement methods. LiDAR sensor 124 and millimeter-wave radar sensor 122 may support three modes: LRR mode, MRR mode, and SRR mode.

[0106] Therefore, after receiving the capability message, the set of configuration parameters for the sensor is determined based on the sensor's capabilities, that is, which configuration parameter values ​​can be assigned to the sensor.

[0107] Step 403: At least one sensor reports measurement information.

[0108] The technical principle of step 403 in this embodiment is similar to that of step 301 in the first embodiment of the method described above, and will not be repeated here.

[0109] Step 404: The scenario decision entity determines the first scenario based on the measurement information.

[0110] The technical principle of step 404 in this embodiment is similar to that of step 302 in the first embodiment of the method described above, and will not be repeated here.

[0111] Step 405: The scene decision entity sends a first instruction message to the sensor management entity. The first instruction message is used to indicate the first scene.

[0112] The technical principle of step 405 in this embodiment is similar to that of step 303 in the first embodiment of the method described above, and will not be repeated here.

[0113] Step 406: The sensor management entity determines the configuration parameters of the sensor based on the first instruction information. The configuration parameters belong to the configuration parameter set and correspond to the first scenario.

[0114] The sensor management entity determines the configuration parameters corresponding to the first scenario from the set of configuration parameters determined in step 402. That is, the set of configuration parameters limits the range of configuration parameters for the sensor management entity. The sensor management entity can only determine the configuration parameters within the range of configuration parameters to avoid system abnormalities caused by configuring parameters when the sensor does not support configuration.

[0115] Step 407: The sensor management entity sends the configuration parameters to the sensor.

[0116] The technical principle of step 407 in this embodiment is similar to that of step 305 in the first embodiment of the method described above, and will not be repeated here.

[0117] Step 408: Configure the sensor according to the configuration parameters.

[0118] The technical principle of step 408 in this embodiment is similar to that of step 306 in the first embodiment of the method described above, and will not be repeated here.

[0119] Step 409: The sensor sends a configuration completion response message to the sensor management entity.

[0120] The technical principle of step 409 in this embodiment is similar to that of step 307 in the first embodiment of the method described above, and will not be repeated here.

[0121] This application determines the sensor's configuration parameters based on the first scenario, and the configuration parameters are configured according to the sensor's capabilities, thus avoiding system malfunctions caused by configuring parameters when the sensor does not support configuration.

[0122] Figure 5 This is a schematic diagram of the control device for the sensor according to an embodiment of this application, as shown below. Figure 5 As shown, the device of this embodiment can be applied to the above-mentioned sensor management entity, which includes: an acquisition module 501, a determination module 502, and a sending module 503. The acquisition module 501 is used to acquire first indication information, which is used to indicate a first scene; the determination module 502 is used to determine the configuration parameters of at least one sensor according to the first indication information, which correspond to the first scene; and the sending module 503 is used to send the configuration parameters to the at least one sensor.

[0123] In one possible implementation, the determining module 502 is specifically used to generate configuration parameters corresponding to the first scenario; or, to determine the configuration parameters according to at least one pre-set parameter correspondence, wherein the parameter correspondence includes the correspondence between the scenario and the configuration parameters.

[0124] In one possible implementation, the configuration parameters include any one or more of the following parameters: the sensor's operating mode, measurement cycle, and measurement time.

[0125] In one possible implementation, the acquisition module 501 is further configured to receive a capability message sent by the sensor; the determination module 502 is further configured to determine a set of configuration parameters based on the capability message, wherein the configuration parameters belong to the set of configuration parameters.

[0126] In one possible implementation, the acquisition module 501 is further configured to receive a configuration completion response message.

[0127] Figure 6 This is another schematic diagram of the control device for the sensor according to an embodiment of this application, as shown below. Figure 6 As shown, the device of this embodiment can be applied to the above-mentioned scenario decision entity, which includes: a receiving module 601, a determining module 602 and a sending module 603, wherein the receiving module 601 is used to receive measurement information from the sensor; the determining module 602 is used to determine a first scenario based on the measurement information; and the sending module 603 is used to send first indication information, which is used to indicate the first scenario.

[0128] In one possible implementation, the measurement information includes at least one of speed information, pedestrian detection information, and positioning information; the determining module 602 is specifically used to determine the first scenario based on at least one of the speed information, pedestrian detection information, and positioning information. Figure 7 This is a schematic diagram of the sensor structure according to an embodiment of this application, as shown below. Figure 7 As shown, the device in this embodiment may include: a sending module 701, a receiving module 702, and a configuration module 703. The sending module 701 is used to report measurement information, which includes at least one of speed information, pedestrian detection information, and positioning information. The receiving module 702 is used to receive configuration parameters. The configuration module 703 is used to configure according to the configuration parameters.

[0129] In one possible implementation, the sending module 701 is further configured to send a capability message, the capability message being used to indicate the functional configuration supported by the sensor.

[0130] In one possible implementation, the receiving module 702 is further configured to download a first version of the software from the server; the sending module 701 is specifically configured to send the capability message according to the first version of the software.

[0131] In one possible implementation, the sending module 701 is further configured to send a configuration completion response message, which is used to indicate that the sensor has completed parameter configuration.

[0132] Figure 8 This is another structural schematic diagram of the control device for the sensor according to an embodiment of this application, as shown below. Figure 8 As shown, the apparatus of this embodiment may include: a receiving module 801, a processing module 802, and a sending module 803, wherein the receiving module 801 is used to receive measurement information from a sensor; the processing module 802 is used to determine a first scenario based on the measurement information and determine configuration parameters of at least one sensor, the configuration parameters corresponding to the first scenario; and the sending module 803 is used to send the configuration parameters to the at least one sensor.

[0133] In one possible implementation, the measurement information includes at least one of speed information, pedestrian detection information, and positioning information; the processing module 802 is specifically used to determine the first scenario based on at least one of the speed information, pedestrian detection information, and positioning information.

[0134] In one possible implementation, the processing module 802 is specifically used to generate configuration parameters corresponding to the first scenario; or, to determine the configuration parameters according to at least one pre-set parameter correspondence, wherein the parameter correspondence includes the correspondence between the scenario and the configuration parameters.

[0135] In one possible implementation, the configuration parameters include any one or more of the following parameters: the sensor's operating mode, measurement cycle, and measurement time.

[0136] In one possible implementation, the receiving module 801 is further configured to receive a capability message sent by the sensor; the processing module 802 is further configured to determine a set of configuration parameters based on the capability message, wherein the configuration parameters belong to the set of configuration parameters.

[0137] The above-described device embodiments can be used to perform Figure 2 The technical solutions of the method embodiments shown in Or 3 are similar in principle and technical effect, and will not be described again here.

[0138] Figure 9 This is a schematic diagram of the structure of the control entity of the sensor in an embodiment of this application. Figure 9 As shown, the sensor control entity 900 can be the sensor management entity or scene decision entity involved in the above embodiments. The sensor control entity 900 includes a processor 901 and a transceiver 902.

[0139] Optionally, the sensor control entity 900 also includes a memory 903. The processor 901, transceiver 902, and memory 903 can communicate with each other via internal connection paths to transmit control signals and / or data signals.

[0140] The memory 903 is used to store computer programs. The processor 901 is used to execute the computer programs stored in the memory 903, thereby realizing the functions in the above-described device embodiments.

[0141] Alternatively, the memory 903 may be integrated into the processor 901 or independent of the processor 901.

[0142] Optionally, the sensor's control entity 900 may also include an antenna 904 for transmitting signals output by the transceiver 902. Alternatively, the transceiver 902 may receive signals via the antenna.

[0143] Optionally, the sensor's control entity 900 may also include a power supply 905 for providing power to various devices or circuits in the vehicle-mounted equipment.

[0144] In addition, to further enhance the functionality of the in-vehicle equipment, the sensor control entity 900 may also include one or more of the following: an input unit 906, a display unit 907 (which can also be considered an output unit), an audio circuit 908, a camera 909, and a sensor 910. The audio circuit may also include a speaker 9091, a microphone 9082, etc., which will not be described in detail here.

[0145] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a computer, causes the computer to perform the steps and / or processes in any of the above method embodiments.

[0146] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to perform the steps and / or processes in any of the above method embodiments.

[0147] This application also provides a chip including a processor. A memory for storing a computer program is provided independently of the chip, and the processor is used to execute the computer program stored in the memory to perform the steps and / or processes in any of the method embodiments.

[0148] Furthermore, the chip may also include a memory and a communication interface. The communication interface may be an input / output interface, pins, or input / output circuits, etc.

[0149] The processor mentioned in the above embodiments can be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method embodiments can be completed by the integrated logic circuitry in the processor's hardware or by software instructions. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this application can be directly implemented by a hardware encoding processor, or by a combination of hardware and software modules in the encoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0150] The memory mentioned in the above embodiments can be volatile memory or non-volatile memory, or may include both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0151] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0152] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0153] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0154] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0155] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0156] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0157] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a sensor, characterized in that, include: Receive a first configuration parameter, which corresponds to a scenario where the speed is less than or equal to a third threshold. The first configuration parameter is used to configure the first lidar to work in short-range mode. The first configuration parameter includes a first measurement cycle and / or a first measurement time. Configure according to the first configuration parameters; Receive a second configuration parameter, which corresponds to a scenario where the speed is greater than a seventh threshold. The second configuration parameter is used to configure the first lidar to work in long-range mode. The second configuration parameter includes a second measurement cycle and / or a second measurement time. Configure according to the second configuration parameter; The third threshold is less than the seventh threshold; The first measurement cycle is different from the second measurement cycle and / or the first measurement time is different from the second measurement time.

2. The method according to claim 1, characterized in that, include: The system receives a third configuration parameter, which corresponds to a scenario where the speed is greater than the third threshold and less than or equal to the seventh threshold. The third configuration parameter is used to configure the first LiDAR to operate in a mid-range mode. The third configuration parameter includes a third measurement period and / or a third measurement time. The third measurement period is different from the first measurement period and the second measurement period, and / or the third measurement time is different from the first measurement time and the second measurement time.

3. The method according to claim 1, characterized in that, The first configuration parameter is used to indicate that when the speed is less than or equal to the third threshold, the first lidar operates in short-range mode; The second configuration parameter is used to indicate that when the speed is greater than the seventh threshold, the first lidar operates in long-range mode.

4. The method according to claim 2, characterized in that, The third configuration parameter is used to indicate that when the speed is greater than the third threshold and less than or equal to the seventh threshold, the first lidar operates in mid-range mode.

5. The method according to claim 1, characterized in that, include: Report at least one of the following: speed information, pedestrian detection information, and location information.

6. The method according to claim 2, characterized in that, include: Report at least one of the following: speed information, pedestrian detection information, and location information.

7. The method according to claim 5, characterized in that, include: The pedestrian detection information includes at least one of the following: number of pedestrians, location, and density in the surrounding environment.

8. The method according to claim 6, characterized in that, include: The pedestrian detection information includes at least one of the following: number of pedestrians, location, and density in the surrounding environment.

9. The method according to claim 7, characterized in that, include: The first configuration parameter corresponds to a scenario where the number of pedestrians in the surrounding environment is greater than a first threshold, or the first configuration parameter corresponds to a scenario where the distance between pedestrians in the surrounding environment is less than or equal to a second threshold. The second configuration parameter corresponds to a scenario where the number of pedestrians in the surrounding environment is less than or equal to the fourth threshold, or the second configuration parameter corresponds to a scenario where the distance between pedestrians in the surrounding environment is greater than the sixth threshold.

10. The method according to claim 8, characterized in that, include: The third configuration parameter corresponds to a scenario where the number of pedestrians in the surrounding environment is less than or equal to the first threshold and greater than the fourth threshold, or the third configuration parameter corresponds to a scenario where the distance between pedestrians in the surrounding environment is greater than the second threshold and less than or equal to the sixth threshold.

11. The method according to claim 5, characterized in that, include: The first configuration parameter corresponds to the location information being in a busy urban area; The second configuration parameter corresponds to the location information being located on a highway.

12. The method according to claim 6, characterized in that, include: The third configuration parameter corresponds to the location information being in the suburbs.

13. The method according to any one of claims 1-12, characterized in that, include: The configuration parameters are determined based on at least one pre-defined parameter correspondence, which includes the correspondence between scenarios and configuration parameters.

14. The method according to any one of claims 1-12, characterized in that, Also includes: Send a capability message, which indicates the functional configuration supported by the first lidar.

15. The method according to claim 14, characterized in that, Before sending the capability message, the following is also included: Download the first version of the software from the server; The sending capability message includes: The capability message is sent according to the first version of the software.

16. The method according to claim 14, characterized in that, Also includes: Send a configuration completion response message, which is used to indicate that the first lidar has completed parameter configuration.

17. A lidar, characterized in that, include: Receive module and configuration module; in The receiving module is used to receive a first configuration parameter, which corresponds to a scenario where the speed is less than or equal to a third threshold. The first configuration parameter is used to configure the lidar to work in short-range mode. The first configuration parameter includes a first measurement cycle and / or a first measurement time. The configuration module is used to configure according to the first configuration parameters; The receiving module is also used to receive a second configuration parameter, which corresponds to a scenario where the speed is greater than a seventh threshold. The second configuration parameter is used to configure the lidar to work in long-range mode. The second configuration parameter includes a second measurement cycle and / or a second measurement time. The configuration module is also used to configure according to the second configuration parameters; The third threshold is less than the seventh threshold; The first measurement cycle is different from the second measurement cycle and / or the first measurement time is different from the second measurement time.

18. The lidar according to claim 17, characterized in that, include: The receiving module is further configured to receive a third configuration parameter, which corresponds to a scenario where the speed is greater than the third threshold and less than or equal to the seventh threshold. The configuration module is further configured to configure the lidar to operate in a mid-range mode according to the third configuration parameter. The third configuration parameter includes a third measurement cycle and / or a third measurement time. The third measurement cycle is different from the first measurement cycle and the second measurement cycle, and / or the third measurement time is different from the first measurement time and the second measurement time.

19. The lidar according to claim 17, characterized in that, The first configuration parameter is used to indicate that when the speed is less than or equal to the third threshold, the lidar operates in short-range mode; The second configuration parameter is used to indicate that when the speed is greater than the seventh threshold, the lidar operates in long-range mode.

20. The lidar according to claim 18, characterized in that, The third configuration parameter is used to indicate that when the speed is greater than the third threshold and less than or equal to the seventh threshold, the lidar operates in mid-range mode.

21. The lidar according to claim 17, characterized in that, The lidar also includes a transmitting module, which is used to report at least one of speed information, pedestrian detection information, and positioning information.

22. The lidar according to claim 18, characterized in that, The lidar also includes a transmitting module, which is used to report at least one of speed information, pedestrian detection information, and positioning information.

23. The lidar according to claim 21, characterized in that, include: The pedestrian detection information includes at least one of the following: number of pedestrians, location, and density in the surrounding environment.

24. The lidar according to claim 22, characterized in that, include: The pedestrian detection information includes at least one of the following: number of pedestrians, location, and density in the surrounding environment.

25. The lidar according to claim 23, characterized in that, include: The first configuration parameter corresponds to a scenario where the number of pedestrians in the surrounding environment is greater than a first threshold, or the first configuration parameter corresponds to a scenario where the distance between pedestrians in the surrounding environment is less than or equal to a second threshold. The second configuration parameter corresponds to a scenario where the number of pedestrians in the surrounding environment is less than or equal to the fourth threshold, or the second configuration parameter corresponds to a scenario where the distance between pedestrians in the surrounding environment is greater than the sixth threshold.

26. The lidar according to claim 24, characterized in that, include: The third configuration parameter corresponds to a scenario where the number of pedestrians in the surrounding environment is less than or equal to the first threshold and greater than the fourth threshold, or the third configuration parameter corresponds to a scenario where the distance between pedestrians in the surrounding environment is greater than the second threshold and less than or equal to the sixth threshold.

27. The lidar according to claim 21, characterized in that, include: The first configuration parameter corresponds to the location information being in a busy urban area; The second configuration parameter corresponds to the location information being located on a highway.

28. The lidar according to claim 22, characterized in that, include: The third configuration parameter corresponds to the location information being in the suburbs.

29. The lidar according to any one of claims 17-28, characterized in that, include: The configuration parameters are determined based on at least one pre-defined parameter correspondence, which includes the correspondence between scenarios and configuration parameters.

30. The lidar according to any one of claims 17-28, characterized in that, The lidar also includes a transmitting module, which is used to transmit capability messages, the capability messages being used to indicate the functional configurations supported by the lidar.

31. The lidar according to claim 30, characterized in that, The lidar also includes a download module, which is used to download a first version of the software from the server; The sending module is used to send capability messages, including: the sending module is used to send the capability messages according to the first version of the software.

32. The lidar according to claim 30, characterized in that, The sending module is also used to send a configuration completion response message, which is used to indicate that the lidar has completed parameter configuration.

33. A computer-readable storage medium, characterized in that, Includes a computer program, which, when executed on a computer, causes the computer to perform the method of any one of claims 1-16.

34. A chip, characterized in that, It includes a processor and a memory, the memory being used to store a computer program, and the processor being used to invoke and run the computer program stored in the memory to perform the method as described in any one of claims 1-16.

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