Vehicle sensor control method, vehicle, and computer storage medium

Abstract

The present invention provides a vehicle sensor control method, a vehicle, and a computer storage medium. The method comprises: if a target vehicle is on an uphill or downhill section, determining whether the current field of view of the target sensor satisfies a preset condition; if the current field of view does not satisfy the preset condition, adjusting the pitch angle of the target sensor to a target angle; wherein the pitch angle of the target sensor before adjustment is an initial angle; obtaining first field of view information of the target sensor before adjustment and second field of view information of the target sensor after adjustment, and performing data fusion based on the first field of view information and the second field of view information to obtain target field of view information; the present invention dynamically adjusts the pitch angle of the target sensor when the field of view is fixed, and fuses the field of view information at different pitch angles, thereby expanding the field of view and effectively improving driving safety.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle sensor control method, a vehicle, and a computer storage medium. Background Art

[0002] With the development of autonomous driving technology, the functions of on-board sensors are becoming more and more powerful. Common sensors include lidar and cameras. The information fusion of various sensors can enable autonomous driving vehicles to perceive the surrounding environment more accurately to ensure the safety of autonomous driving.

[0003] In the prior art, reference Figure 1 When a vehicle is on an uphill or downhill road, due to the fixed field of view of the lidar and camera, when the slope angle is large, the vehicle cannot perceive obstacles at a greater distance or the state of the road surface, which can easily lead to traffic accidents. Summary of the Invention

[0004] The embodiments of the present invention provide a vehicle sensor control method, a vehicle, and a computer storage medium to solve the problem in the prior art that the field of view of vehicle-mounted sensors is fixed and traffic accidents are prone to occur when going uphill or downhill.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle sensor control method, comprising:

[0006] Acquire perception data of the target vehicle and determine whether the target vehicle is on an uphill road section or a downhill road section based on the perception data;

[0007] If the target vehicle is on an uphill or downhill section, determine whether the current field of view of the target sensor meets the preset conditions;

[0008] If the current field of view does not meet the preset conditions, the pitch angle of the target sensor is adjusted, and the pitch angle of the target sensor is adjusted to the target angle; wherein the pitch angle of the target sensor before adjustment is the initial angle;

[0009] Acquire first field of view information of the target sensor before adjustment and second field of view information of the target sensor after adjustment, and perform data fusion based on the first field of view information and the second field of view information to obtain target field of view information;

[0010] The target sensor is fixed on the target vehicle, the pitch angle is adjustable, and the field of view of the target sensor is facing the direction of the target vehicle.

[0011] In a second aspect, an embodiment of the present invention provides a vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the vehicle sensor control method according to the first aspect or any possible implementation of the first aspect are implemented.

[0012] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the vehicle sensor control method as described in the first aspect or any possible implementation of the first aspect.

[0013] Embodiments of the present invention provide a vehicle sensor control method, a vehicle, and a computer storage medium. The method comprises: acquiring sensor data of a target vehicle and determining, based on the sensor data, whether the target vehicle is on an uphill or downhill section; if the target vehicle is on an uphill or downhill section, determining whether the current field of view of the target sensor satisfies a preset condition; if the current field of view does not satisfy the preset condition, adjusting the pitch angle of the target sensor to a target angle; wherein the pitch angle of the target sensor before adjustment is an initial angle; acquiring first field of view information of the target sensor before adjustment and second field of view information of the target sensor after adjustment, and performing data fusion based on the first and second field of view information to obtain target field of view information; wherein the target sensor is fixed to the target vehicle, has an adjustable pitch angle, and has its field of view oriented in the direction of the target vehicle's travel. In the embodiment of the present invention, when the target vehicle's field of view is fixed or limited on an uphill or downhill section, the pitch angle of the target sensor is dynamically adjusted, and field of view information at different pitch angles is fused, thereby expanding the field of view of the target sensor, ensuring that there are no blind spots within a safe distance range, and effectively improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 This is a vehicle driving schematic diagram provided by an embodiment of the present invention;

[0016] Figure 2 This is a flow chart of an implementation method of a vehicle sensor control method provided by an embodiment of the present invention;

[0017] Figure 3This is a schematic diagram of a vehicle traveling after the pitch angle is adjusted according to an embodiment of the present invention;

[0018] Figure 4 is a schematic diagram of multiple incremental adjustments provided by an embodiment of the present invention;

[0019] Figure 5 is a structural diagram of a vehicle sensor control device provided by an embodiment of the present invention;

[0020] Figure 6 Schematic diagram of a vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clear, specific embodiments will be described below with reference to the accompanying drawings.

[0023] See also Figure 2 , which shows a flowchart for implementing a vehicle sensor control method provided by an embodiment of the present invention. Applied to a vehicle, for example, the vehicle sensor control method can be executed by a vehicle controller, a sensor controller on the vehicle, or another vehicle controller capable of controlling sensors, without specific limitation. The vehicle sensor can be an onboard lidar, onboard camera, or other sensor.

[0024] The above methods include:

[0025] S101: Acquire sensing data of a target vehicle, and determine whether the target vehicle is on an uphill road section or a downhill road section based on the sensing data;

[0026] Since vehicles usually travel on level roads, the onboard laser radar and onboard camera usually face forward with a fixed pitch angle. Figure 1 When a vehicle approaches the bottom of a slope, the target sensor can only capture information directly ahead. Information about the horizontal section ahead of the downhill section is lost, resulting in a limited field of view and a blind spot. If an obstacle happens to be outside the field of view at this time, excessive speed could cause an accident. This situation does not occur on horizontal sections of road.

[0027] Therefore, in the embodiment of the present invention, it is first determined whether the target vehicle is on an uphill section or a downhill section.

[0028] Specifically, in a possible implementation, the perception data may include: map data, positioning data, network data, image data acquired by a vehicle-mounted camera, point cloud data acquired by a lidar, and at least one of vehicle-mounted level meter data.

[0029] For example, the sensing data is level data collected by a level meter installed on the target vehicle. When the level data shows that the angle between the vehicle and the horizontal plane is greater than a preset angle threshold, it can be determined that the target vehicle is on an uphill or downhill section.

[0030] For another example, it is possible to comprehensively determine whether the target vehicle is on an uphill or downhill section through map data, positioning data, and network data.

[0031] Furthermore, since map data is updated slowly, the map data, positioning data, image data, and point cloud data can be combined to comprehensively determine the target vehicle's body tilt angle, effectively improving the accuracy of detection.

[0032] S102: If the target vehicle is on an uphill or downhill section, determine whether the current field of view of the target sensor meets a preset condition;

[0033] When the target vehicle is detected on an uphill or downhill section, the target sensor may have a blind spot problem. Figure 1 When the target vehicle is on a downhill section, its field of view is limited compared to a horizontal section, and it can only reach point A at most. Road conditions outside the field of view are unknown. This field of view cannot meet the target vehicle's current driving requirements and cannot guarantee safe driving of the target vehicle. Therefore, the embodiment of the present invention determines whether the current field of view meets preset conditions on an uphill or downhill section to determine whether the target vehicle can safely drive under the current field of view.

[0034] S103: If the current field of view does not meet the preset conditions, adjust the pitch angle of the target sensor and adjust the pitch angle of the target sensor to the target angle; wherein the pitch angle of the target sensor before the adjustment is the initial angle;

[0035] The pitch angle is the angle between the X-axis of the target sensor's body coordinate system and the plane of the target vehicle. When the X-axis of the target sensor's body coordinate system points above the plane of the target vehicle, the pitch angle is positive; when the X-axis of the target sensor's body coordinate system points below the plane of the target vehicle, the pitch angle is negative.

[0036] When it is detected that the current field of view does not meet the preset conditions, that is, the field of view is too narrow, if the target sensor detects an obstacle when obtaining the next frame of field of view information, there may not be enough time to brake and avoid it, which may cause a traffic accident.

[0037] Therefore, when the field of view of the target vehicle does not meet the preset conditions, the embodiment of the present invention adjusts the pitch angle of the target sensor to expand the field of view, so that the target sensor can detect farther on uphill or downhill sections, thereby avoiding traffic accidents caused by blind spots in the field of view and effectively improving the safety of the target vehicle.

[0038] For example, when the target vehicle is on an uphill section, the target sensor is tilted upward relative to the horizontal section. Therefore, in order to obtain more ground information, it is hoped that the target sensor will "lower its head", that is, reduce the pitch angle of the target sensor.

[0039] When the target vehicle is on a downhill section, the target sensor is tilted downward relative to the horizontal section. Therefore, it is hoped that the sensor will "raise its head", that is, increase the pitch angle of the target sensor. Figure 3 .

[0040] In a possible implementation, the target sensor may be a vehicle-mounted laser radar or a vehicle-mounted camera.

[0041] It should be noted that an adjustment mechanism is installed below the target sensor, and the pitch angle of the target sensor can be adjusted by controlling the movement of the adjustment mechanism.

[0042] S104: Obtain first field of view information of the target sensor before adjustment and second field of view information of the target sensor after adjustment, perform data fusion based on the first field of view information and the second field of view information to obtain target field of view information; wherein, the target sensor is fixed on the target vehicle, the pitch angle is adjustable, and the field of view of the target sensor is toward the direction of the target vehicle.

[0043] Depend on Figure 1 and Figure 3 As can be seen, because the target sensor's field of view is fixed, increasing the pitch angle, for example when the target vehicle is traveling downhill, can result in loss of some of the lower field of view information. Therefore, the present invention fuses the pre- and post-adjustment field of view information to generate target field of view information. This has a wider field of view and includes more road condition information, further improving driving safety and preventing traffic accidents caused by blind spots.

[0044] It should be noted that when the target sensor is a vehicle-mounted camera, both the first and second field of view information are images. Image fusion technology can be used to fuse the two images to obtain the target image (target field of view information). When the target sensor is a vehicle-mounted lidar, the first and second field of view information are point cloud images. Image fusion technology can also be used to fuse the two point cloud images to obtain the target electric cloud image (target field of view information). Image fusion technology is existing technology and will not be further described here.

[0045] In a possible implementation, S102 may include:

[0046] S1021: Determine the drivable time of the target vehicle in the current field of view;

[0047] S1022: If the drivable time of the target vehicle is not greater than the first preset time, determining that the current field of view does not meet the preset condition;

[0048] S1023: If the drivable time of the target vehicle is greater than the first preset time, it is determined that the current field of view meets the preset condition.

[0049] It takes time for the driver to detect the danger and react accordingly, and it also takes time for the car to respond. Figure 1 When the target vehicle is on a downhill road, the mileage that the target vehicle can travel within the current field of view is L1+L2, and the road conditions outside the field of view are unknown. To ensure safe driving, sufficient reaction time must be reserved, and the target vehicle's drivable time (the time the target vehicle travels L1+L2 mileage) should be long enough.

[0050] Therefore, the embodiment of the present invention determines whether the current field of view meets the preset conditions based on the drivable time of the target vehicle in the current field of view.

[0051] If the target vehicle's drivable time is not greater than the first preset time, there may not be enough time to brake and avoid, which may cause a traffic accident, and the preset condition is not met; if the target vehicle's drivable time is greater than the first preset time, it means that the vehicle has enough time to brake and avoid, and the preset condition is met.

[0052] It should be noted that the first preset time is the time the target vehicle can safely brake to avoid the collision, which is related to human reaction time and vehicle conditions and can be different according to actual application needs. The first preset time will be different depending on the model of the target vehicle.

[0053] Exemplarily, the first preset time may be 15 seconds.

[0054] In another possible embodiment, referring to Figure 1The distance that the target vehicle can travel on the slope is fixed, and whether the preset conditions are met mainly depends on L2. Since the field of view and pitch angle of the target vehicle are fixed, the greater the slope, the smaller the distance, and the smaller the slope, the greater the distance.

[0055] Based on this, in another possible implementation, whether the field of view meets the preset conditions can also be determined based on the target vehicle's body tilt angle, pitch angle, and field of view information under the current field of view. The specific implementation method is not limited here.

[0056] In a possible implementation, S1021 may include:

[0057] 1. If the target vehicle is on an uphill section, the target vehicle's drivable time is determined to be a second preset time; wherein the second preset time is not greater than the first preset time;

[0058] 2. If the target vehicle is on a downhill section, obtain the field of view information of the target sensor in the current field of view, and determine the target vehicle's drivable distance in the current field of view based on the field of view information; determine the target vehicle's drivable time based on the target vehicle's current speed and the target vehicle's drivable distance in the current field of view.

[0059] When the target vehicle is on an uphill section, the field of view is upward, and the drivable time cannot be determined based on the field of view information under the current field of view. In the embodiment of the present invention, it is assumed that the drivable time of the target vehicle on the uphill section is not greater than the first preset time, and the pitch angle of the target sensor is directly adjusted.

[0060] When the vehicle is on a downhill road, the field of vision is downward, refer to Figure 1 , the distance that the vehicle can travel within the currently detectable field of view can be determined based on the field of view information under the current field of view combined with map data, positioning data, etc.

[0061] For example, the position of the target vehicle on the slope is determined based on the positioning data, and the distance L1 from the position of the target vehicle to the bottom of the slope is obtained in combination with the map data. Then, the distance L2 that the target vehicle can travel on the horizontal road section is obtained based on the map data and the field of view information under the current field of view. L1+L2 is the drivable distance of the target vehicle in the current field of view, and the drivable time of the target vehicle can be roughly calculated by dividing it by the driving speed of the target vehicle.

[0062] For example, when the target sensor is a vehicle-mounted laser radar, the field of view information in the current field of view is the point cloud image captured by the vehicle-mounted laser radar at the current pitch angle. When the target sensor is a vehicle-mounted camera, the field of view information in the current field of view is the image captured by the vehicle-mounted camera at the current pitch angle.

[0063] In a possible implementation, the first preset time may be 15 seconds.

[0064] It should be noted that the first preset time is the time the target vehicle can safely brake to avoid the collision, which is related to human reaction time and vehicle conditions and can be different according to actual application needs. The first preset time will be different depending on the model of the target vehicle.

[0065] In a possible implementation, S103 may include:

[0066] S1031: If the target vehicle is on an uphill road, obtain the target vehicle's body tilt angle, determine a target angle based on the body tilt angle, and reduce the pitch angle of the target sensor downward to the target angle;

[0067] When the target vehicle is on an uphill road, the target angle can be determined directly based on the vehicle's tilt angle. For example, if the vehicle's tilt angle is small, the pitch angle adjustment is small; if the vehicle's tilt angle is large, the pitch angle adjustment is large to obtain more road surface information.

[0068] For example, the pitch angle change Δθ = k × α, where k is a coefficient and α is the vehicle body tilt angle. The value of k can be set according to actual application requirements.

[0069] Furthermore, since the field of view is special on an uphill section, the field of view will be blocked by the inflection point after reducing the pitch angle. Therefore, to simplify the calculation, when the target vehicle is on an uphill section, the target angle can be directly set to a preset angle.

[0070] S1032: If the target vehicle is on a downhill section, gradually increase the pitch angle of the target sensor upward according to a preset increment until the current field of view meets the preset conditions, and use the current pitch angle as the target angle.

[0071] When the target vehicle is on a downhill road, the target sensor has a fixed field of view. A large pitch angle can prevent detection of small obstacles close to the road. Therefore, the pitch angle should not be too large. In this embodiment, the target sensor's pitch angle is gradually increased to meet the requirements, avoiding excessive pitch angles that could affect the sensor's perception accuracy.

[0072] In a possible implementation, S104 may include:

[0073] S1041: If the target vehicle is on an uphill road, obtain first field of view information and second field of view information, and fuse the first field of view information and the second field of view information to obtain target field of view information;

[0074] S1042: If the target vehicle is on a downhill section, obtaining the first field of view information and the field of view information of the target sensor after each incremental adjustment, and fusing the first field of view information and the field of view information after each incremental adjustment to obtain the target field of view information;

[0075] The field of view information after the last incremental adjustment is the second field of view information.

[0076] When driving on an uphill road, the pitch angle is directly adjusted to the target angle, so the first field of view information and the second field of view information can be directly fused to obtain the target field of view information.

[0077] On downhill sections, in order to avoid excessive pitch angle affecting the perception accuracy of the target sensor, the pitch angle is adjusted gradually. For example, Figure 4 The pitch angle is adjusted to the target angle after two incremental adjustments. Based on this, in the embodiment of the present invention, the first field of view information before adjustment and the field of view information after two adjustments (including the second field of view information) can be fused to obtain more comprehensive field of view information.

[0078] In a possible implementation, after S104, the method may further include:

[0079] S105: At every preset time interval, the pitch angle of the target sensor is adjusted to the initial angle, and steps S101 to S104 are executed.

[0080] To obtain more road condition information, the target sensor can be switched back to its initial angle at preset intervals, thereby obtaining more road information and improving driving safety. Furthermore, as the target vehicle moves, the field of view changes rapidly. Therefore, the target angle and target field of view information are updated after each switch, improving the real-time accuracy of the target angle.

[0081] Exemplarily, the preset duration may be 1 second.

[0082] Among them, the preset time length can be adjusted according to road conditions and vehicle speed. When the vehicle speed is faster, the preset time length can be reduced to ensure the real-time and accuracy of the target field of view information.

[0083] Specifically, it can be set according to actual application requirements and is not limited here.

[0084] In a possible implementation, after S103, the method may further include:

[0085] S106: Control the target vehicle to decelerate.

[0086] Increasing or decreasing the pitch angle will cause some field of view information to be lost. At the same time, blind spots usually occur near turning points on uphill or downhill sections. If the target vehicle is traveling too fast at the turning point, it is easy to cause an accident. Therefore, after adjusting the pitch angle, the speed of the target vehicle can be appropriately reduced, thereby improving driving safety and avoiding traffic accidents.

[0087] In a possible implementation, the above method may further include:

[0088] S107: If the current field of view meets the preset conditions, or the target vehicle is on a horizontal road section, the pitch angle of the target sensor is adjusted to the initial angle.

[0089] When the target vehicle is on a level road or the field of view meets the preset conditions, there will be no blind spot problem. The pitch angle of the target sensor can be adjusted back to the initial angle to obtain the best field of view and detection accuracy.

[0090] It should be noted that the initial angle can be set according to actual application requirements, which can not only meet the field of view requirements but also obtain higher perception accuracy.

[0091] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0092] The following are device embodiments of the present invention. For details not fully described therein, reference may be made to the corresponding method embodiments described above.

[0093] Figure 5 The following is a schematic diagram showing the structure of a vehicle sensor control device provided by an embodiment of the present invention. For ease of explanation, only the parts related to the embodiment of the present invention are shown, which are described in detail as follows:

[0094] like Figure 5 As shown, the vehicle sensor control device includes:

[0095] a parameter acquisition module 21 for acquiring sensing data of a target vehicle and determining whether the target vehicle is on an uphill road section or a downhill road section based on the sensing data;

[0096] The judgment module 22 is used to determine whether the current field of view of the target sensor meets the preset conditions if the target vehicle is on an uphill section or a downhill section;

[0097] A first pitch angle adjustment module 23 is configured to adjust the pitch angle of the target sensor to a target angle if the current field of view does not meet a preset condition; wherein the pitch angle of the target sensor before adjustment is an initial angle;

[0098] The data fusion module 24 is used to obtain the first field of view information of the target sensor before adjustment and the second field of view information of the target sensor after adjustment, and perform data fusion based on the first field of view information and the second field of view information to obtain the target field of view information; wherein, the target sensor is fixed on the target vehicle, the pitch angle is adjustable, and the field of view of the target sensor is toward the direction of the target vehicle's movement.

[0099] In a possible implementation, the first determination module 22 may include:

[0100] A time determination unit, used to determine the drivable time of the target vehicle in the current field of view;

[0101] a first condition judgment unit, configured to determine that the current field of view does not meet a preset condition if the drivable time of the target vehicle is not greater than a first preset time;

[0102] The second condition judgment unit is used to determine whether the current field of view meets the preset condition if the drivable time of the target vehicle is greater than the first preset time.

[0103] In a possible implementation, the time determination unit may be specifically configured to:

[0104] 1. If the target vehicle is on an uphill section, the target vehicle's drivable time is determined to be a second preset time; wherein the second preset time is not greater than the first preset time;

[0105] 2. If the target vehicle is on a downhill section, obtain the field of view information of the target sensor in the current field of view, and determine the target vehicle's drivable distance in the current field of view based on the field of view information; determine the target vehicle's drivable time based on the target vehicle's current speed and the target vehicle's drivable distance in the current field of view.

[0106] In a possible implementation, the first pitch angle adjustment module 23 may include:

[0107] a first adjustment unit, configured to obtain a body tilt angle of the target vehicle if the target vehicle is on an uphill section, determine a target angle according to the body tilt angle, and reduce the pitch angle of the target sensor downward to the target angle;

[0108] The second adjustment unit is used to gradually increase the pitch angle of the target sensor upward according to a preset increment if the target vehicle is on a downhill section until the current field of view meets the preset conditions, and use the current pitch angle as the target angle.

[0109] In one possible implementation, the data fusion module 24 may include:

[0110] an uphill fusion unit, configured to obtain the first field of view information and the second field of view information if the target vehicle is on an uphill section, and fuse the first field of view information and the second field of view information to obtain target field of view information;

[0111] a downhill fusion unit configured to obtain the first field of view information and the field of view information of the target sensor after each incremental adjustment if the target vehicle is on a downhill section, and fuse the first field of view information and the field of view information after each incremental adjustment to obtain the target field of view information;

[0112] The field of view information after the last incremental adjustment is the second field of view information.

[0113] In a possible implementation, the above device may further include:

[0114] The cyclic adjustment module is used to adjust the pitch angle of the target sensor to the initial angle at each preset time interval, and execute the steps of obtaining the perception data of the target vehicle, and determining whether the target vehicle is on an uphill section or a downhill section based on the perception data, to obtain the first field of view information of the target sensor before adjustment and the second field of view information of the target sensor after adjustment, and perform data fusion based on the first field of view information and the second field of view information to obtain the target field of view information.

[0115] In a possible implementation, the above device may further include:

[0116] The deceleration module is used to control the target vehicle to decelerate.

[0117] In a possible implementation, the above device may further include:

[0118] The second pitch angle adjustment module is used to adjust the pitch angle of the target sensor to the initial angle if the current field of view meets the preset conditions or the target vehicle is on a horizontal road section.

[0119] Figure 6 Schematic diagram of a vehicle 3 provided in an embodiment of the present invention. Figure 6 As shown, the vehicle 3 of this embodiment includes: a processor 30 and a memory 31. The memory 31 is used to store a computer program 32, and the processor 30 is used to call and run the computer program 32 stored in the memory 31 to perform the steps in the above-mentioned various vehicle sensor control method embodiments, such as Figure 2 Alternatively, the processor 30 is used to call and run the computer program 32 stored in the memory 31 to implement the functions of each module / unit in the above-mentioned device embodiments, such as Figure 5 The functions of modules 21 to 23 are shown.

[0120] For example, the computer program 32 may be divided into one or more modules / units, which are stored in the memory 31 and executed by the processor 30 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program 32 in the vehicle 3. For example, the computer program 32 may be divided into Figure 5 Modules / units 21 to 23 are shown.

[0121] The vehicle 3 may include, but is not limited to, a processor 30 and a memory 31. It will be understood by those skilled in the art that Figure 6 This is merely an example of vehicle 3 and does not constitute a limitation on vehicle 3 . Vehicle 3 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle may also include input and output devices, network access devices, buses, etc.

[0122] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0123] Memory 31 can be an internal storage unit of vehicle 3, such as a hard drive or memory in vehicle 3. Memory 31 can also be an external storage device in vehicle 3, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, memory 31 can include both internal storage units and external storage devices in vehicle 3. Memory 31 is used to store computer programs and other programs and data required by the vehicle. Memory 31 can also be used to temporarily store data that has been output or is about to be output.

[0124] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0125] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0126] Those skilled in the art will appreciate that the units and algorithm steps of each example 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 performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0127] In the embodiments provided by the present invention, it should be understood that the disclosed devices / vehicles and methods can be implemented in other ways. For example, the device / vehicle embodiments described above are merely schematic. For example, the division of modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0128] Units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0129] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0130] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. Computer-readable media may include: any entity or device that can carry computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0131] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A vehicle sensor control method, characterized in that: include: Acquiring sensing data of a target vehicle, and determining whether the target vehicle is on an uphill section or a downhill section based on the sensing data; If the target vehicle is on an uphill or downhill section, determining whether the current field of view of the target sensor meets a preset condition; If the current field of view does not meet the preset condition, adjusting the pitch angle of the target sensor and adjusting the pitch angle of the target sensor to the target angle; wherein the pitch angle of the target sensor before the adjustment is the initial angle; Acquire first field of view information of the target sensor before adjustment and second field of view information of the target sensor after adjustment, and perform data fusion using image fusion technology based on the first field of view information and the second field of view information to obtain target field of view information; The target sensor is fixed on the target vehicle, the pitch angle is adjustable, and the field of view of the target sensor is toward the direction of the target vehicle; Determining whether the current field of view of the target sensor meets a preset condition includes: Determining the drivable time of the target vehicle in the current field of view; If the drivable time of the target vehicle is not greater than the first preset time, determining that the current field of view does not meet the preset condition; If the drivable time of the target vehicle is greater than the first preset time, determining that the current field of view meets the preset condition; If the current field of view does not meet the preset condition, adjusting the pitch angle of the target sensor and adjusting the pitch angle of the target sensor to a target angle includes: If the target vehicle is on an uphill section, obtaining the body tilt angle of the target vehicle, determining the target angle according to the body tilt angle, and reducing the pitch angle of the target sensor downward to the target angle; If the target vehicle is on a downhill section, gradually increasing the pitch angle of the target sensor upward according to a preset increment until the current field of view meets the preset condition, and using the current pitch angle as the target angle; The acquiring of the first field of view information of the target sensor before adjustment and the second field of view information of the target sensor after adjustment, and performing data fusion according to the first field of view information and the second field of view information to obtain the target field of view information includes: If the target vehicle is on an uphill section, the first field of view information and the second field of view information are acquired, and the first field of view information and the second field of view information are fused to obtain the target field of view information; If the target vehicle is on a downhill section, the first field of view information and the field of view information of the target sensor after each incremental adjustment are obtained, and the first field of view information and the field of view information after each incremental adjustment are fused to obtain the target field of view information; The field of view information after the last incremental adjustment is the second field of view information; After acquiring the first field of view information of the target sensor before adjustment and the second field of view information of the target sensor after adjustment, and performing data fusion based on the first field of view information and the second field of view information to obtain target field of view information, the method further includes: At each preset time interval, the pitch angle of the target sensor is adjusted to the initial angle, and the step of obtaining the perception data of the target vehicle is performed, and determining whether the target vehicle is in an uphill section or a downhill section based on the perception data, until the step of obtaining the first field of view information of the target sensor before adjustment and the second field of view information of the target sensor after adjustment, performing data fusion based on the first field of view information and the second field of view information to obtain the target field of view information.

2. The vehicle sensor control method according to claim 1, characterized in that: Determining the drivable time of the target vehicle in the current field of view includes: If the target vehicle is on an uphill section, determining that the target vehicle's drivable time is a second preset time; wherein the second preset time is not greater than the first preset time; If the target vehicle is on a downhill section, the field of view information of the target sensor in the current field of view is obtained, and the drivable distance of the target vehicle in the current field of view is determined based on the field of view information in the current field of view; the drivable time of the target vehicle is determined based on the current speed of the target vehicle and the drivable distance of the target vehicle in the current field of view.

3. The vehicle sensor control method according to any one of claims 1 to 2, characterized in that: After adjusting the pitch angle of the target sensor to a target angle if the current field of view does not meet the preset condition, the method further includes: The target vehicle is controlled to decelerate.

4. The vehicle sensor control method according to any one of claims 1 to 2, characterized in that: The method further comprises: If the current field of view meets the preset condition, or the target vehicle is on a horizontal road section, the pitch angle of the target sensor is adjusted to the initial angle.

5. A vehicle, characterized in that: The system comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the steps of the vehicle sensor control method according to any one of claims 1 to 4.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the vehicle sensor control method according to any one of claims 1 to 4 are implemented.

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