Lidar control method, apparatus, vehicle, and storage medium

Abstract

The application discloses a laser radar control method and device, a vehicle and a storage medium, and belongs to the technical field of vehicles. The method comprises the following steps: in the case that a curve exists in front of a target vehicle, the curvature of the curve is acquired; pedestrian detection is performed on the surroundings of the target vehicle to determine whether pedestrians exist in the surroundings of the target vehicle; in the case that pedestrians exist in the surroundings of the target vehicle, the field of view angle of a laser beam of a laser radar of the target vehicle is adjusted based on the curvature of the curve and pedestrian information of the pedestrians. The application controls the laser radar of the target vehicle to adjust the field of view angle of the laser beam based on the curvature of the curve and the pedestrian information of the pedestrians in the case that the curve exists in front of the target vehicle and pedestrians exist in the surroundings of the target vehicle. Thus, the laser beam can be prevented from causing damage to human eyes, the eyes of the pedestrians are protected, and invalid laser beams can be restrained, so that the laser radar can accurately collect surrounding environment information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a laser radar control method and device, a vehicle and a storage medium. BACKGROUND

[0002] In the technical field of vehicles, a vehicle can collect environmental information around the vehicle through a laser radar. The laser radar can emit a detection signal (laser beam) to the surrounding environment of the vehicle through a laser emitting system, and then receive the reflected laser signal from the environment through a laser receiving system. Then, the information processing system of the laser radar can obtain the shape, physical properties and other information about the objects in the surrounding environment based on the detection signal and the reflected laser signal.

[0003] However, since the laser beam emitted by the laser radar can cause damage to the eyes of people, when there are pedestrians around the vehicle, it may cause harm to the eyes of the pedestrians. Moreover, in the scenario of the vehicle driving on a curve, the coverage position of the laser beam emitted by the laser radar in the surrounding environment will change, so that the laser radar cannot accurately collect the surrounding environment information. Therefore, there is an urgent need for a method for controlling the laser radar in the curve scenario. SUMMARY

[0004] The present application provides a laser radar control method, device, vehicle and storage medium, which can control the laser radar in the curve scenario, constrain invalid laser beams, and avoid damage to the eyes of people caused by the laser beam emitted by the laser radar. The technical solution is as follows:

[0005] In a first aspect, a laser radar control method is provided, the method comprising:

[0006] In the case that there is a curve in front of a target vehicle, the curvature of the curve is obtained;

[0007] Pedestrian detection is performed on the surrounding of the target vehicle to determine whether there are pedestrians around the target vehicle;

[0008] In the case that there are pedestrians around the target vehicle, based on the curvature of the curve and the pedestrian information of the pedestrians, the laser radar of the target vehicle is controlled to adjust the field of view angle of the laser beam.

[0009] In the present application, it is first determined whether there is a curve ahead of the target vehicle. In the case where it is determined that there is a curve ahead of the target vehicle, the curvature of the curve is obtained. Then, pedestrian detection is performed on the surroundings of the target vehicle to determine whether there is a pedestrian in the surroundings of the target vehicle. In the case where there is a pedestrian in the surroundings of the target vehicle, the field of view angle of the laser beam of the laser radar of the target vehicle is adjusted based on the curvature of the curve and the pedestrian information of the pedestrian, so as to avoid the laser beam emitted by the laser radar from entering the eyes of the pedestrian in the case where there is a pedestrian in the surroundings of the target vehicle, thereby avoiding the laser beam from causing damage to the eyes of the pedestrian, and playing a protective role for the eyes of the pedestrian. Moreover, by adjusting the field of view angle when the vehicle is driving on the curve, the invalid laser beam can be constrained, so that the laser radar can accurately collect the surrounding environment information.

[0010] Optionally, in the case where there is a pedestrian in the surroundings of the target vehicle, the field of view angle of the laser beam of the laser radar of the target vehicle is adjusted based on the curvature of the curve and the pedestrian information of the pedestrian, including:

[0011] In the case where there is a pedestrian in the surroundings of the target vehicle, the relative position between the pedestrian and the target vehicle is determined;

[0012] The field of view angle of the laser beam of the laser radar of the target vehicle is adjusted based on the relative position, the position of the laser radar, the curvature of the curve and the pedestrian information of the pedestrian.

[0013] Optionally, the field of view angle of the laser beam of the laser radar of the target vehicle is adjusted based on the relative position, the position of the laser radar, the curvature of the curve and the pedestrian information of the pedestrian, including:

[0014] Based on the relative position and the position of the laser radar, it is determined whether the pedestrian is in the emission range of the laser beam of the laser radar;

[0015] In the case where the pedestrian is in the emission range of the laser beam, the field of view angle of the laser beam of the laser radar of the target vehicle is adjusted based on the curvature of the curve and the pedestrian information of the pedestrian.

[0016] Optionally, the pedestrian information of the pedestrian includes the height of at least one pedestrian and the distance between the at least one pedestrian and the target vehicle, and the field of view angle of the laser beam of the laser radar of the target vehicle is adjusted based on the curvature of the curve and the pedestrian information of the pedestrian in the case where there is a pedestrian in the surroundings of the target vehicle, including:

[0017] Based on the curvature of the curve, the bending angle of the curve is determined;

[0018] obtaining a target height and a target distance from the pedestrian information, the target height being a lowest height among the heights of the at least one pedestrian, and the target distance being a distance between the target pedestrian and the target vehicle;

[0019] determining a first target angle based on the target height and the target distance, the first target angle being an angle at which a laser beam of the lidar cannot scan an eye of the at least one pedestrian;

[0020] controlling the lidar of the target vehicle to adjust a field of view angle of the laser beam based on the bending angle of the curve and the first target angle.

[0021] Optionally, the controlling the lidar of the target vehicle to adjust the field of view angle of the laser beam based on the bending angle of the curve and the first target angle comprises:

[0022] in a case where the curve is a left curve, controlling the lidar to shift the horizontal field of view angle left by the bending angle of the curve, and controlling the lidar to adjust the vertical field of view angle to the first target angle;

[0023] in a case where the curve is a right curve, controlling the lidar to shift the horizontal field of view angle right by the bending angle of the curve, and controlling the lidar to adjust the vertical field of view angle to the first target angle.

[0024] Optionally, the method further comprises:

[0025] in a case where there is no pedestrian around the target vehicle and the curve is a left curve, if a curvature of the curve is less than or equal to a preset curvature threshold, controlling the lidar to shift the horizontal field of view angle left by the bending angle of the curve, and if the curvature of the curve is greater than the preset curvature threshold, controlling the lidar to shift the horizontal field of view angle left by a second target angle, the second target angle being a limit shift angle of the horizontal field of view angle;

[0026] in a case where there is no pedestrian around the target vehicle and the curve is a right curve, if the curvature of the curve is less than or equal to the preset curvature threshold, controlling the lidar to shift the horizontal field of view angle right by the bending angle of the curve, and if the curvature of the curve is greater than the preset curvature threshold, controlling the lidar to shift the horizontal field of view angle right by the second target angle.

[0027] Optionally, before the controlling the lidar of the target vehicle to adjust the field of view angle of the laser beam based on the curvature of the curve and the pedestrian information of the pedestrian, the method further comprises:

[0028] determine a distance between the target vehicle and a start position of the curve;

[0029] Optionally, the method further comprises:

[0030] controlling the laser radar of the target vehicle to adjust a field of view angle of a laser beam based on the curvature of the curve and pedestrian information of the pedestrian.

[0031] Optionally, before the step of acquiring the curvature of the curve in the case that the target vehicle is in front of a curve, the method further comprises:

[0032] acquiring road information within a preset road range of the position of the target vehicle from a high-definition map based on the position of the target vehicle.

[0033] in the case that the road information comprises curve information, determining that there is a curve in front of the target vehicle.

[0034] in the case that the road information does not comprise curve information, determining that there is no curve in front of the target vehicle.

[0035] In a second aspect, a laser radar control device is provided, and the device comprises:

[0036] a first acquiring module, configured to acquire a curvature of a curve in the case that a target vehicle is in front of the curve.

[0037] a first determining module, configured to perform pedestrian detection around the target vehicle to determine whether there is a pedestrian around the target vehicle.

[0038] a first control module, configured to, in the case that there is a pedestrian around the target vehicle, control a laser radar of the target vehicle to adjust a field of view angle of a laser beam based on the curvature of the curve and pedestrian information of the pedestrian.

[0039] Optionally, the first control module is configured to:

[0040] in the case that there is a pedestrian around the target vehicle, determine a relative position between the pedestrian and the target vehicle.

[0041] control the laser radar of the target vehicle to adjust the field of view angle of the laser beam based on the relative position, a position of the laser radar, the curvature of the curve and the pedestrian information of the pedestrian.

[0042] Optionally, the first control module is configured to:

[0043] determine whether the pedestrian is in a transmitting range of a laser beam of the lidar based on the relative position and a position of the lidar;

[0044] in a case where the pedestrian is in the transmitting range of the laser beam, control the lidar of the target vehicle to adjust a field of view angle of the laser beam based on a curvature of the curve and pedestrian information of the pedestrian.

[0045] Optionally, the pedestrian information of the pedestrian includes a height of at least one pedestrian and a distance between the at least one pedestrian and the target vehicle, and the first control module is configured to:

[0046] determine a bending angle of the curve based on the curvature of the curve;

[0047] obtain a target height and a target distance from the pedestrian information, the target height being a lowest height among the heights of the at least one pedestrian, and the target distance being a distance between a target pedestrian and the target vehicle;

[0048] determine a first target angle based on the target height and the target distance, the first target angle being an angle at which the laser beam of the lidar cannot scan eyes of the at least one pedestrian;

[0049] control the lidar of the target vehicle to adjust the field of view angle of the laser beam based on the bending angle of the curve and the first target angle.

[0050] Optionally, the first control module is configured to:

[0051] in a case where the curve is a left curve, control the lidar to shift the horizontal field of view angle left by the bending angle, and control the lidar to adjust the vertical field of view angle to the first target angle;

[0052] in a case where the curve is a right curve, control the lidar to shift the horizontal field of view angle right by the bending angle, and control the lidar to adjust the vertical field of view angle to the first target angle.

[0053] Optionally, the apparatus further comprises:

[0054] a second control module configured to, in a case where there is no pedestrian around the target vehicle and the curve is a left curve, control the lidar to shift the horizontal field of view angle left by the bending angle of the curve if the curvature of the curve is less than or equal to a preset curvature threshold, or control the lidar to shift the horizontal field of view angle left by a second target angle if the curvature of the curve is greater than the preset curvature threshold, the second target angle being a limit shifting angle of the horizontal field of view angle;

[0055] The third control module is configured to, in the case that there is no pedestrian around the target vehicle and the curve is a right curve, if the curvature of the curve is less than or equal to the preset curvature threshold, control the laser radar to shift the horizontal field of view angle to the right by the bending angle of the curve; and if the curvature of the curve is greater than the preset curvature threshold, control the laser radar to shift the horizontal field of view angle to the right by the second target angle.

[0056] Optionally, the device further comprises:

[0057] The second determination module is configured to determine the distance between the target vehicle and the starting position of the curve.

[0058] Optionally, the first control module is configured to:

[0059] In the case that the distance between the target vehicle and the starting position is less than or equal to a preset distance threshold, control the laser radar of the target vehicle to adjust the field of view angle of the laser beam based on the curvature of the curve and the pedestrian information of the pedestrian.

[0060] Optionally, the device further comprises:

[0061] The second acquisition module is configured to acquire, based on the position of the target vehicle, road information within a preset road range of the position from a high-definition map.

[0062] The third determination module is configured to, in the case that the road information includes curve information, determine that there is a curve in front of the target vehicle.

[0063] The fourth determination module is configured to, in the case that the road information does not include curve information, determine that there is no curve in front of the target vehicle.

[0064] In a third aspect, a vehicle is provided, and the vehicle comprises:

[0065] The memory is configured to store executable program codes.

[0066] The processor is configured to call and run the executable program codes from the memory, so that the vehicle executes the laser radar control method described above.

[0067] In a fourth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, which, when executed by a processor, implements the laser radar control method described above.

[0068] In a fifth aspect, a computer program product containing instructions is provided, which, when executed on a computer, causes the computer to perform the steps of the laser radar control method described above.

[0069] It can be understood that the beneficial effects of the second aspect, the third aspect, the fourth aspect and the fifth aspect described above can be referred to the related description in the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0070] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0071] Figure 1 is a working process schematic diagram of a laser radar provided by the embodiments of the present application;

[0072] Figure 2 is a schematic diagram of a laser radar transmitting a laser beam provided by the embodiments of the present application;

[0073] Figure 3 is another schematic diagram of a laser radar transmitting a laser beam provided by the embodiments of the present application;

[0074] Figure 4 is a flow chart of a laser radar control method provided by the embodiments of the present application;

[0075] Figure 5 is a schematic diagram of determining position information of a target vehicle provided by the embodiments of the present application;

[0076] Figure 6 is a schematic diagram of determining a first target angle provided by the embodiments of the present application;

[0077] Figure 7 is another flow chart of a laser radar control method provided by the embodiments of the present application;

[0078] Figure 8 is a structural schematic diagram of a laser radar control device provided by the embodiments of the present application;

[0079] Figure 9 is a structural schematic diagram of a vehicle provided by the embodiments of the present application. DETAILED DESCRIPTION

[0080] In order to make the purpose, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail with reference to the drawings.

[0081] It should be understood that the "multiple" mentioned in the present application refers to two or more than two. In the description of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; "and / or" herein only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, in order to clearly describe the technical solutions of the present application, the same items or similar items with basically the same function and role are distinguished by using "first", "second" and the like. The skilled in the art can understand that "first", "second" and the like do not limit the quantity and execution order, and "first", "second" and the like do not necessarily mean different.

[0082] First, the laser radar involved in the embodiments of the present application is explained and described.

[0083] Figure 1 is a working process schematic diagram of a laser radar provided by the embodiments of the present application. Referring to Figure 1 , the laser radar includes a laser emitting system 101, a laser receiving system 102 and an information processing system 103.

[0084] The laser emitting system 101 includes a laser 104, a beam controller 105 and an emitting optical system 106, the beam controller 105 includes a scanning mirror. The laser 104 is used to periodically emit laser pulses, and the beam controller 105 can control the direction and line beam of the laser beam emission by changing the direction of the scanning mirror after receiving the laser pulses. Finally, the laser pulses are emitted through the emitting optical system 106 to emit the laser beam, so as to realize the emission of the laser beam to the surrounding environment. Wherein, the beam controller can realize the control of the horizontal field of view angle of the laser beam emission by changing the left and right directions of the scanning mirror, and the beam controller can realize the control of the vertical field of view angle of the laser beam emission by changing the up and down directions of the scanning mirror.

[0085] The laser receiving system 102 includes a receiving optical system 107 and a photoelectric detector 108. The laser beam emitted to the surrounding environment will be reflected on the surface of the object when reaching the surface of the object, so as to enter the laser radar through the receiving optical system 107, and the photoelectric detector 108 can receive the laser emitted back through the surface of the object, so as to generate a reflection signal.

[0086] The information processing system 103 includes an amplifier 109 and an information processing module 110. The reflected signal generated by the laser receiving system 102 can enter the amplifier 109, where the transmitted signal is amplified for subsequent processing. The amplified transmitted signal is then converted from digital to analog and sent to the information processing module 110 for calculation, thereby obtaining information such as the shape and physical properties of objects in the surrounding environment.

[0087] Before providing a detailed description of the methods provided in the embodiments of this application, the application scenarios of this application will be explained first.

[0088] Currently, the laser beams emitted by automotive lidar systems have two wavelengths: 905nm and 1550nm. Laser beams with wavelengths below 1400nm can penetrate the eye's fluids and damage the retina. While laser beams with wavelengths above 1400nm cannot penetrate the eye's fluids, prolonged direct viewing can still burn the cornea, thus causing damage to the eye.

[0089] In addition, when a car is driving on a curve, the coverage position of the laser beam emitted by the lidar in the surrounding environment will change, resulting in many invalid laser beams. This will cause the lidar to be unable to accurately collect information about the environment around the car.

[0090] For example, Figure 2 This is a comparison diagram of a lidar emitting laser beams on a straight road and on a curve. Figure 2 Image (a) shows a schematic diagram of a lidar emitting a laser beam on a straight road. Figure 2 (b) in the diagram is a schematic diagram of a lidar emitting a laser beam in a curve.

[0091] See Figure 2 In (a) of the diagram, a car is traveling on a straight road. The car's lidar emits laser beams in a specific direction and angle, which can uniformly cover the surrounding environment. See also Figure 2 In (b), when a car is driving on a curve, the car's lidar emits laser beams in the same direction and angle. However, the coverage position of the emitted laser beams deviates in the curve and cannot cover the environment of the curve. Therefore, the car's lidar cannot accurately collect environmental information in the curve, which will affect the safety of the car when driving on the curve.

[0092] Furthermore, if there are pedestrians in the curve, the laser beam emitted by the lidar may enter the pedestrians' eyes, causing damage.

[0093] For example, Figure 3is a schematic diagram of a laser radar emitting a laser beam when a pedestrian exists in a curve. Referring to Figure 3 , a vehicle is driving in a curve, a pedestrian exists in front of the vehicle, and the laser radar emits a laser beam in a certain direction and angle. The laser beam will enter the eyes of the pedestrian in the curve, thereby causing damage to the eyes of the pedestrian.

[0094] To this end, an embodiment of the present application provides a laser radar control method, which can be applied to a scenario of controlling a laser radar in a curve.

[0095] Specifically, it is first determined whether a curve exists in front of the vehicle. In a case where it is determined that a curve exists in front of the vehicle, the curvature of the curve is obtained. Then, pedestrian detection is performed on the surroundings of the vehicle to determine whether a pedestrian exists in the surroundings of the vehicle. In a case where a pedestrian exists in the surroundings of the vehicle, the field of view angle of the laser beam of the vehicle is adjusted based on the curvature of the curve and the pedestrian information of the pedestrian, so as to avoid the laser beam emitted by the laser radar from entering the eyes of the pedestrian in a case where a pedestrian exists in the surroundings of the vehicle, thereby avoiding damage to the eyes of the pedestrian caused by the laser beam and protecting the eyes of the pedestrian. Moreover, by adjusting the field of view angle when the vehicle is driving in the curve, invalid laser beams can be constrained, so that the laser radar can accurately collect surrounding environment information.

[0096] The laser radar control method provided by an embodiment of the present application will be explained and described in detail below.

[0097] Figure 4 is a flowchart of a laser radar control method provided by an embodiment of the present application. The method can be applied to a controller of a vehicle, for example, the controller can be an intelligent driving domain controller of the vehicle. Referring to Figure 4 , the method includes the following steps.

[0098] Step 401: In a case where a curve exists in front of a target vehicle, the curvature of the curve is obtained.

[0099] It is worth noting that before step 401, it can be first determined whether a curve exists in front of the target vehicle.

[0100] Specifically, the operation of determining whether a curve exists in front of the target vehicle can include the following steps (1)-(3).

[0101] (1) Based on the position of the target vehicle, road information in a preset road range of the position is obtained from a high-definition map.

[0102] The high-definition map is also referred to as a high-resolution map. The high-definition map contains road elements such as lane lines, road signs, traffic signs, traffic lights, zebra crossings, stop lines, kerbs, guardrails, bridges, curves, and bends, and attribute information of the road elements including the number of lanes, lane grouping, lane curvature, and slope, and real-time traffic dynamic information at a lane level.

[0103] The preset road range can be set in advance, and the preset road range can be set by a technician according to actual needs. For example, the preset road range can be set as a road range of 200 meters in front of the target vehicle.

[0104] In this way, the road information within the preset road range from the target vehicle can be accurately obtained from the high-definition map, that is, the relevant information about the road in front of the target vehicle can be accurately obtained.

[0105] Optionally, the operation of step (1) can be: determining the position information of the target vehicle by using a high-precision positioning algorithm; obtaining a high-definition map; performing map matching on the position information of the target vehicle and the high-definition map to obtain the position of the target vehicle on the high-definition map; and obtaining the road information within the preset road range from the target vehicle from the high-definition map.

[0106] In this case, after the position information of the target vehicle is determined, a position close to the position information of the target vehicle is searched for on the high-definition map, and the position is the position of the target vehicle on the high-definition map. Then, the road information within the preset road range from the target vehicle is obtained from the high-definition map.

[0107] Optionally, a GNSS (Global Navigation Satellite System) antenna can be installed on the target vehicle, which can receive a satellite positioning signal. In this case, the operation of determining the position information of the target vehicle by using a high-precision positioning algorithm can be: obtaining the position information of the target vehicle by using a T-BOX (Telematics BOX) of the target vehicle based on the satellite positioning signal.

[0108] For example, Figure 5 is a schematic diagram of determining the position information of the target vehicle. Referring to Figure 5 , Figure 5 The GNSS antenna 501, an RTK (Real Time Kinematic) service 502, a T-BOX 503, GNSS positioning data 504, and IMU (Inertial Measurement Unit) data 505 are included in the T-BOX 500.

[0109] The GNSS antenna 501 is configured to receive satellite positioning signals, the RTK service 502 is configured to determine the positioning deviation of the target vehicle, and the GNSS positioning data 504 includes the satellite positioning signals and the positioning deviation. The IMU data 505 is the body attitude data and lateral velocity of the target vehicle measured by the inertial measurement unit. The Internet of Vehicles intelligent terminal 503 is configured to perform positioning calculation to obtain the position information of the target vehicle.

[0110] Due to errors caused by the penetration of the ionosphere and the troposphere, the Doppler effect caused by the high-speed movement of the satellite, the orbit error, the satellite clock error, and the ephemeris error, the position information of the target vehicle calculated by the satellite positioning signals alone can be inaccurate. Therefore, the positioning deviation can be determined by the RTK service 502 to eliminate the above errors and accurately obtain the position information of the target vehicle.

[0111] After the GNSS antenna 501 receives the satellite positioning signals, the Internet of Vehicles intelligent terminal 503 can obtain the satellite positioning signals, and the RTK service 502 of the target vehicle can also determine the positioning deviation of the target vehicle and send the positioning deviation to the Internet of Vehicles intelligent terminal 503. Then, the Internet of Vehicles intelligent terminal 503 can perform fusion positioning calculation based on the GNSS positioning data 504 and the IMU data 505 by using a positioning calculation algorithm to obtain the position information of the target vehicle.

[0112] In the embodiment of the present application, the position information of the target vehicle is determined based on the high-precision positioning algorithm, which can improve the positioning accuracy of the target vehicle.

[0113] It should be noted that in the embodiment of the present application, the Internet of Vehicles intelligent terminal 503 can perform fusion positioning calculation by using any positioning calculation algorithm, and the present application does not make a unique limitation in this regard. For example, the Internet of Vehicles intelligent terminal 503 can perform positioning calculation by using a differential global navigation satellite system (DGNSS) positioning algorithm.

[0114] (2) In the case where the road information includes the curve information, it is determined that there is a curve in front of the target vehicle.

[0115] Since the high-definition map contains road elements such as lane lines, road signs, traffic signs, traffic lights, zebra crossings, stop lines, kerbs, guardrails, bridges, curves, and curves, and attribute information of road elements such as the number of lanes, lane grouping, lane curvature, and slope, and real-time traffic dynamic information at the lane level, the road information corresponding to a section of road and the attribute information of the road elements can be obtained from the high-definition map.

[0116] In this case, when the bend information is included in the road information in the preset road range obtained from the high-definition map, it indicates that the high-definition map includes the bend element in the preset road range from the target vehicle, that is, there is a bend in the preset road range from the target vehicle, so it can be determined that there is a bend in front of the target vehicle.

[0117] (3) In the case where the bend information is not included in the road information, it is determined that there is no bend in front of the target vehicle.

[0118] In this case, when the bend information is not included in the road information in the preset road range obtained from the high-definition map, it indicates that the high-definition map does not include the bend element in the preset road range from the target vehicle, that is, there is no bend in the preset road range from the target vehicle, so it can be determined that there is no bend in front of the target vehicle.

[0119] It should be noted that in the embodiments of the present application, the road information in the preset road range from the target vehicle is obtained on the high-definition map, so that the driving road condition of the target vehicle can be known in advance, and thus it can be decided in advance whether the laser radar needs to be controlled.

[0120] Further, in the case where it is determined that there is a bend in front of the target vehicle, the curvature of the bend can be obtained from the road information in the preset road range.

[0121] Specifically, the road information includes road elements, attribute information of the road elements, etc. For example, the preset road range includes a bend, and the attribute information of the bend includes a curvature of the bend being 0.3. The curvature of the bend can be obtained from the road information as 0.3.

[0122] Alternatively, the operation of determining whether there is a bend in front of the target vehicle can also be: collecting an image in front of the target vehicle through a camera of the target vehicle; performing lane line detection on the image in front of the target vehicle; then classifying the detected lane line, and in the case where the classification result is a bend lane line, it is determined that there is a bend in front of the target vehicle; in the case where the classification result is not a bend lane line, it is determined that there is no bend in front of the target vehicle.

[0123] The lane line detection on the image in front of the target vehicle can be performed through an edge detection algorithm, for example, a Sobel algorithm, a Canny algorithm, etc. Alternatively, the lane line detection on the image in front of the target vehicle can also be performed through a semantic segmentation algorithm model, for example, a SegNet (Segment Network) model, etc. The comparison is not limited in the embodiments of the present application.

[0124] The operation of classifying the detected lane line can be: inputting the detected lane line into a curve classification model, classifying the lane line by the curve classification model, and outputting a classification result.

[0125] It is worth noting that before inputting the detected lane line into the curve classification model, the curve classification model can also be obtained by training through a computer device.

[0126] The computer device for training the curve classification model can be a desktop computer, a notebook computer, or a server.

[0127] Optionally, the computer device can obtain a plurality of first training samples, train the neural network model using the plurality of first training samples, and obtain the curve classification model.

[0128] The plurality of first training samples can be pre-set. Each of the plurality of first training samples includes sample data and sample labels, and the sample data can be a sample lane line, and the sample labels are classification results corresponding to the sample lane line. The input data in each of the plurality of training samples is a sample lane line, and the sample labels are classification results corresponding to the sample lane line.

[0129] The neural network model can include a plurality of network layers, including an input layer, a plurality of hidden layers, and an output layer. The input layer is responsible for receiving input data; the output layer is responsible for outputting processed data; the plurality of hidden layers are located between the input layer and the output layer, and are responsible for processing data. The plurality of hidden layers are invisible to the outside. For example, the neural network model can be a deep neural network model, and can be a convolutional neural network in a deep neural network.

[0130] The computer device trains the neural network model using the plurality of first training samples. For each of the plurality of first training samples, the input data in the first training sample can be input into the neural network model to obtain output data; a loss value between the output data and the sample labels in the first training sample is determined by a loss function; and the parameters in the neural network model are adjusted according to the loss value. After adjusting the parameters in the neural network model based on each of the plurality of first training samples, the neural network model with completed parameter adjustment is the curve classification model.

[0131] The operation of adjusting the parameters in the neural network model according to the loss value can refer to related technologies, which will not be described in detail in this embodiment.

[0132] For example, the computer device can adjust the parameters in the neural network model by the formula Adjusting any one parameter in the neural network model. Wherein, is the adjusted parameter. W is the parameter before adjustment. Alpha is the learning rate, which can be set in advance, such as alpha can be 0.001, 0.000001, etc., which is not uniquely limited by the embodiments of the present application. D is the derivative of the loss function with respect to W, which can be obtained according to the loss value.

[0133] In this case, when the classification result is a curved lane line, it means that the curved lane classification model identifies that the lane line is a curved lane line, so it can be determined that there is a curve in front of the target vehicle. When the classification result is not a curved lane line, it means that the curved lane classification model identifies that the lane line is not a curved lane line, so it can be determined that there is no curve in front of the target vehicle. In this way, it can be accurately determined whether there is a curve in front of the target vehicle.

[0134] Further, in the case where it is determined that there is a curve in front of the target vehicle, the curvature of the lane line in the image in front of the target vehicle can also be determined, that is, the curvature of the curve, so as to realize the curvature of the curve.

[0135] Step 402: Perform pedestrian detection on the target vehicle, and determine whether there is a pedestrian around the target vehicle.

[0136] Specifically, the operation of step 402 can include the following steps (1)-(2).

[0137] (1) Obtain the environmental information around the target vehicle.

[0138] The environmental information around the target vehicle is used to indicate whether there is a pedestrian around the target vehicle.

[0139] The operation of step (1) can be realized by the following two possible ways.

[0140] The first possible way is to collect the environmental image around the target vehicle through the camera of the target vehicle, so as to obtain the environmental information around the target vehicle. In this case, the environmental information around the target vehicle is the environmental image collected by the camera.

[0141] The second possible way is to collect the point cloud around the target vehicle through the radar of the target vehicle, so as to obtain the environmental information around the target vehicle. In this case, the environmental information around the target vehicle is the point cloud collected by the radar.

[0142] Of course, the environmental information around the target vehicle can be collected by any one of the above two ways, or the environmental information around the target vehicle can be collected by the combination of the above two ways.

[0143] (2) determining, based on the environment information, whether there is a pedestrian around the target vehicle.

[0144] Specifically, the operation of step (2) can be: performing target detection on the environment information around the target vehicle, determining that there is a pedestrian around the target vehicle in a case where the target detection result is that there is a pedestrian, and determining that there is no pedestrian around the target vehicle in a case where the target detection result is that there is no pedestrian.

[0145] The operation of performing target detection on the environment information around the target vehicle can be: inputting the environment information around the target vehicle into a pedestrian detection model, performing pedestrian detection on the environment information by the pedestrian detection model, and outputting a target detection result.

[0146] It is worth noting that the pedestrian detection model can also be obtained by training the computer device before inputting the environment information around the target vehicle into the pedestrian detection model.

[0147] Optionally, the computer device can obtain a plurality of second training samples, train the neural network model using the plurality of second training samples, and obtain the pedestrian detection model.

[0148] The plurality of second training samples can be pre-set. Each of the plurality of second training samples includes sample data and sample labels, the sample data can be environment sample information, and the sample labels are detection results corresponding to the environment sample information. The input data in each of the plurality of training samples is the environment sample information, and the sample labels are the detection results corresponding to the environment sample information.

[0149] Specifically, the operation of obtaining the pedestrian detection model based on the plurality of second training samples by the computer device is similar to the operation of obtaining the curve classification model based on the plurality of first training samples by the computer device, and the embodiments of the present application will not be described in detail.

[0150] Further, in a case where it is determined that there is a pedestrian around the target vehicle, pedestrian information of the pedestrian can also be determined based on the environment information around the target vehicle.

[0151] Optionally, the operation of determining the pedestrian information of the pedestrian based on the environment information around the target vehicle can be: performing information separation on the environment information around the target vehicle to obtain the pedestrian information of the pedestrian.

[0152] The information separation is used to separate information about the pedestrian from the environment information.

[0153] The pedestrian information can include the height of the pedestrian, and can also include the state (still, walking, etc.) of the pedestrian, the distance between the pedestrian and the target vehicle, etc.

[0154] Optionally, the operation of information separation on the environment information around the target vehicle to obtain the pedestrian information of the pedestrian can be: separating the pedestrian from the environment information around the target vehicle, and then identifying the separated pedestrian to obtain the pedestrian information of the pedestrian.

[0155] For example, the pedestrian can be separated from the environment information around the target vehicle by a target segmentation algorithm, and then the separated pedestrian is identified to obtain the pedestrian information of the pedestrian.

[0156] Optionally, in the case that there is at least one pedestrian in the environment around the target vehicle, the pedestrian information can further include a pedestrian identifier, which is used to uniquely identify the at least one pedestrian. For example, there are two pedestrians in the environment around the target vehicle, and the pedestrian identifier of the first pedestrian can be 1, and the pedestrian identifier of the second pedestrian can be 2.

[0157] It is worth noting that in the case that there is a curve in front of the target vehicle, the area around the target vehicle includes the curve, so when detecting pedestrians around the target vehicle, it can be detected whether there is a pedestrian in the curve in front of the target vehicle.

[0158] In this way, it can be determined whether there is a pedestrian around the target vehicle through the above step 402.

[0159] Further, in the case that there is no pedestrian around the target vehicle, the horizontal field of view angle of the laser radar of the target vehicle is adjusted based on the curvature of the curve.

[0160] The horizontal field of view angle is used to control the horizontal emission direction of the laser beam, that is, to control the horizontal coverage range of the laser beam in the surrounding environment.

[0161] Since the horizontal coverage position of the laser beam emitted by the laser radar in the surrounding environment changes when the target vehicle drives on the curve, in the case that the target vehicle drives on the curve and there is no pedestrian around, the coverage range of the laser beam in the horizontal direction can be controlled to include the curve, that is, the horizontal field of view angle of the laser beam of the target vehicle can be adjusted based on the curvature of the curve.

[0162] In this case, by controlling the laser radar of the target vehicle to adaptively adjust the horizontal field of view angle of the laser beam according to the curvature of the curve, the emission of invalid laser beams can be constrained, and the laser beam can be as evenly covered as possible. The curve, that is, the laser beam is emitted as much as possible. The surrounding environment is effective, so that the laser radar can accurately collect the environment information of the curve, and the driving safety is improved.

[0163] The horizontal field of view angle of the laser beam can be adjusted by a beam controller of the laser radar.

[0164] Specifically, based on the curvature of the curve, the operation of controlling the laser radar of the target vehicle to adjust the horizontal field of view angle of the laser beam can be implemented in the following two possible cases.

[0165] First, in the case of a left curve, if the curvature of the curve is less than or equal to a preset curvature threshold, the laser radar is controlled to shift the horizontal field of view angle to the left by the bending angle of the curve; if the curvature of the curve is greater than the preset curvature threshold, the laser radar is controlled to shift the horizontal field of view angle to the left by a second target angle.

[0166] The second target angle is a limit shift angle of the horizontal field of view angle.

[0167] Since in the case of a large curvature of the curve, the coverage position of the laser beam emitted by the laser radar in the surrounding environment will change greatly when the target vehicle enters the curve, and then the laser beam that can scan the curve in the laser beam emitted by the laser radar is very small, and the invalid laser beam emitted by the laser radar is very much, and the angle that the horizontal field of view angle of the laser radar can shift is fixed. Therefore, in the case of a large curvature of the curve, it is impossible to make all the laser beams emitted by the laser radar effective by adjusting the horizontal field of view angle. In this case, in order to ensure that as many laser beams as possible emitted by the laser radar can scan the curve, that is, to ensure that the invalid laser beam emitted by the laser radar is less, the laser radar can be controlled to shift the horizontal field of view angle by a limit shift angle.

[0168] The preset curvature threshold can correspond to the limit shift angle. When the curvature of the curve is less than the preset curvature threshold, the horizontal field of view angle of the laser radar can be shifted within an angle range less than the limit shift angle, and when the curvature is greater than the preset curvature threshold, the horizontal field of view angle of the laser radar reaches the maximum angle (limit shift angle) that can be shifted and cannot be shifted further. The preset curvature threshold can be set in advance, and the preset curvature threshold can be set according to the limit shift angle of the horizontal field of view angle. For example, the limit shift angle of the horizontal field of view angle is 150°, and the preset curvature threshold can be set to 0.5.

[0169] In this case, if the curvature of the curve is less than or equal to the preset curvature threshold, it means that the curvature of the curve is small, and the horizontal field of view angle of the laser radar can be shifted within an angle range less than or equal to the limit shift angle. In addition, in the case of the target vehicle driving in a left curve, due to the effect of the bending angle of the left curve, the coverage position of the laser beam emitted by the laser radar in the surrounding environment will also be shifted to the right by the same angle as the bending angle, so the horizontal field of view angle of the laser radar can be controlled to be shifted to the left by the bending angle of the curve. In this way, it can be ensured that the laser beam emitted by the laser radar is effective when the target vehicle drives in the left curve.

[0170] If the curvature of the curve is greater than the preset curvature threshold, it indicates that the curvature of the curve is relatively large, and the horizontal field of view angle of the laser radar reaches the maximum angle that can be deviated (the limit deviation angle), and cannot be deviated any more. In addition, in the case that the target vehicle drives in a left curve, due to the effect of the bending angle of the left curve, the coverage position of the laser beam emitted by the laser radar in the surrounding environment will also be deviated horizontally to the right by an angle equal to the bending angle, so in order to ensure that the laser beam emitted by the laser radar scans the curve as much as possible, the horizontal field of view angle of the laser radar can be controlled to be deviated to the left by the limit deviation angle, that is, the horizontal field of view angle of the laser radar is controlled to be deviated to the left by the second target angle.

[0171] For example, the preset curvature threshold is 0.5, the curvature of the curve is 0.3, and the bending angle of the corresponding left curve is 110°. Wherein, the curvature of the curve (0.3) is less than the preset curvature threshold, and the horizontal field of view angle of the laser radar can be controlled to be deviated to the left by an angle equal to the bending angle of the curve, that is, the horizontal field of view angle of the laser radar is controlled to be deviated to the left by 110°.

[0172] Secondly, in the case that the curve is a right curve, if the curvature of the curve is less than or equal to the preset curvature threshold, the horizontal field of view angle of the laser radar is controlled to be deviated to the right by the bending angle of the curve; if the curvature of the curve is greater than the preset curvature threshold, the horizontal field of view angle of the laser radar is controlled to be deviated to the right by the second target angle.

[0173] In this case, if the curvature of the curve is less than or equal to the preset curvature threshold, it indicates that the curvature of the curve is relatively small, and the horizontal field of view angle of the laser radar can be deviated within an angle range less than or equal to the limit deviation angle. In addition, in the case that the target vehicle drives in a right curve, due to the effect of the bending angle of the right curve, the coverage position of the laser beam emitted by the laser radar in the surrounding environment will also be deviated horizontally to the left by an angle equal to the bending angle, so the horizontal field of view angle of the laser radar can be controlled to be deviated to the right by the bending angle of the curve. In this way, it can be ensured that the laser beam emitted by the laser radar is effective when the target vehicle drives in a right curve.

[0174] If the curvature of the curve is greater than the preset curvature threshold, it indicates that the curvature of the curve is relatively large, and the horizontal field of view angle of the laser radar reaches the maximum angle that can be deviated (the limit deviation angle), and cannot be deviated any more. In addition, in the case that the target vehicle drives in a right curve, due to the effect of the bending angle of the right curve, the coverage position of the laser beam emitted by the laser radar in the surrounding environment will also be deviated horizontally to the left by an angle equal to the bending angle, so in order to ensure that the laser beam emitted by the laser radar scans the curve as much as possible, the horizontal field of view angle of the laser radar can be controlled to be deviated to the right by the limit deviation angle, that is, the horizontal field of view angle of the laser radar is controlled to be deviated to the right by the second target angle.

[0175] Step 403: In the case that there are pedestrians around the target vehicle, based on the curvature of the curve and the pedestrian information of the pedestrians, the field of view angle of the laser radar of the target vehicle is controlled to be adjusted.

[0176] Since there are pedestrians around the target vehicle, it is indicated that there are also pedestrians in the curve. Therefore, when the target vehicle is driving in the curve, the laser beams emitted by the laser radar may cause damage to the eyes of the pedestrians, and there are more invalid laser beams emitted by the laser radar in the curve. Therefore, the field of view angle of the laser radar of the target vehicle can be controlled to be adjusted.

[0177] In this case, by adjusting the field of view angle, the laser beams emitted by the laser radar are avoided from entering the eyes of the pedestrians, so as to avoid damage to the eyes of the pedestrians by the laser beams, and the eyes of the pedestrians are protected. Moreover, by adjusting the field of view angle when the vehicle is driving in the curve, the invalid laser beams can be constrained, so that the laser radar can accurately collect the surrounding environment information.

[0178] The field of view angle of the laser beam can be adjusted by a beam controller of the laser radar.

[0179] Optionally, after determining that there is a curve in front of the target vehicle, the distance between the target vehicle and the starting position of the curve can also be determined.

[0180] Optionally, the distance between the target vehicle and the starting position of the curve can also be determined in real time during the driving of the target vehicle.

[0181] In this case, the operation of step 403 can be: in the case that the distance between the target vehicle and the starting position of the curve is less than or equal to a preset distance threshold, based on the curvature of the curve and the pedestrian information of the pedestrians, the field of view angle of the laser radar of the target vehicle is controlled to be adjusted.

[0182] The preset distance threshold can be set in advance, and the preset distance threshold can be set to be smaller. For example, the preset distance threshold can be set to 3 meters.

[0183] In this case, in the case that the distance between the target vehicle and the starting position of the curve is less than or equal to the preset distance threshold, it is indicated that the distance between the target vehicle and the starting position of the curve is small, that is, the target vehicle is about to enter the curve, so based on the curvature of the curve and the pedestrian information of the pedestrians, the field of view angle of the laser radar of the target vehicle is controlled to be adjusted, so that after the target vehicle enters the curve, the laser beams emitted by the laser radar will not enter the eyes of the pedestrians, and the effectiveness of the emitted laser beams is ensured.

[0184] In a case where the distance between the target vehicle and the start position of the curve is greater than the preset distance threshold, it is indicated that the distance between the target vehicle and the start position of the curve is far, that is, the target vehicle is currently driving on a flat ground and is far from the curve. At this time, in order to ensure the effectiveness of the laser beam emitted by the laser radar on the flat ground, the field of view angle of the laser radar can be not controlled to be adjusted.

[0185] Of course, in a case where the target vehicle has entered the curve, the field of view angle of the laser beam of the target vehicle can be controlled to be adjusted based on the curvature of the curve and the pedestrian information to avoid the laser beam from entering the eyes of the pedestrians. The embodiments of the present application are not limited thereto.

[0186] Specifically, the operation of step 403 can include the following steps (1)-(4).

[0187] (1) Determine the bending angle of the curve based on the curvature of the curve.

[0188] Since the coverage position of the laser beam emitted by the laser radar in the surrounding environment of the target vehicle driving on the curve moves horizontally left or right by the same angle as the bending angle of the curve, the bending angle of the curve can be determined for subsequent adjustment of the field of view angle of the laser beam.

[0189] (2) Obtain the height of the target pedestrian and the target distance from the pedestrian information.

[0190] In a case where there is at least one pedestrian in the surrounding environment of the target vehicle, the pedestrian information is the pedestrian information of the at least one pedestrian.

[0191] The height of the target pedestrian is the lowest height in the heights of the at least one pedestrian, and the target pedestrian is the pedestrian with the lowest height in the at least one pedestrian. The target distance is the distance between the target pedestrian and the target vehicle.

[0192] In this case, by obtaining the lowest height in the heights of the at least one pedestrian, the field of view angle of the laser beam is adjusted according to the lowest height, so that the laser beam emitted by the laser radar will not enter the eyes of each pedestrian in the at least one pedestrian, thereby ensuring that the eyes of each pedestrian in the at least one pedestrian can be protected.

[0193] (3) Determine the first target angle based on the height of the target pedestrian and the target distance.

[0194] The first target angle is an angle at which the laser beam of the laser radar cannot scan the eyes of each pedestrian in the at least one pedestrian, and the first target angle can also be understood as the emission angle of the laser beam.

[0195] In this case, the angle at which the laser beam of the lidar cannot scan the eyes of the at least one pedestrian can be determined. Thus, subsequent adjustment of the field of view angle according to the first target angle can cause the laser beam emitted by the lidar to not enter the eyes of each of the at least one pedestrian. In this way, the eyes of the pedestrian are protected.

[0196] Optionally, the operation of step (3) can be: determining the height of the target point based on the height of the target pedestrian; determining the first target angle based on the height of the target point and the target distance by a tangent function.

[0197] The target point is any one point on the body part below the eye part of the target pedestrian. Optionally, the target point is at two-thirds of the height of the target pedestrian. Since the two-thirds of the height of the person is located below the head of the person, setting the target point at two-thirds of the height of the target pedestrian can ensure that the laser beam will not enter the eye when the lidar adjusts the field of view angle according to the first target angle.

[0198] For example, Figure 6 is a schematic diagram for determining the first target angle. Referring to Figure 6 , Figure 6 A point, B point and C point are included in the figure. The A point is used to represent the position of the target vehicle, the B point is used to represent the position of the target pedestrian, and the C point is used to represent the target point on the target pedestrian, wherein the C point is at two-thirds of the height of the target pedestrian. Wherein, the laser beam of the lidar is emitted from the A point to the surrounding environment.

[0199] Figure 6 In the figure, the A point, the B point and the C point form a right triangle, wherein the length AB is the distance (target distance) between the target vehicle and the target pedestrian, and the length CB is the height of the target point, i.e. two-thirds of the height of the target pedestrian.

[0200] Since the laser beam cannot enter the eye, the laser outside the edge of the laser beam cannot reach the eye. In this example, the laser outside the edge of the laser beam can reach the target point at most. In this way, the emission angle of the laser beam is the angle β between the length AC and the length AB, which can ensure that the eyes of the pedestrian are not damaged.

[0201] Thus, the operation of determining the first target angle based on the height of the target point and the target distance by a tangent function can be implemented by the following formula (1).

[0202]

[0203] From Figure 6As can be seen, when the first target angle is β, the laser radar emits the laser beam to the highest position of the target point, and does not enter the eyes of the target pedestrian, and thus does not enter the eyes of other pedestrians. In this way, the eyes of the pedestrians are protected.

[0204] For example, the height of the target pedestrian is 1.5 m, and the target distance is 2 m. Then the height of the target point can be determined as Then the first target angle can be determined by the above formula (1):

[0205]

[0206] The tangent value of the first target angle is 0.5, and the first target angle is 26.56°.

[0207] (4) Based on the bending angle of the curve and the first target angle, the laser radar of the target vehicle is controlled to adjust the field of view angle of the laser beam.

[0208] In this case, the horizontal coverage position of the laser beam in the surrounding environment can be controlled according to the bending angle of the curve, and the laser beam does not enter the eyes of the pedestrians according to the first target angle. Therefore, based on the bending angle of the curve and the first target angle, the laser radar of the target vehicle is controlled to adjust the field of view angle of the laser beam, so that the laser beam emitted by the laser radar covers the curve as much as possible, thereby improving the effectiveness of the laser beam emitted by the laser radar. And the laser beam emitted by the laser radar can avoid entering the eyes of the pedestrians, thereby protecting the eyes of the pedestrians.

[0209] Optionally, the field of view angle of the laser beam includes a horizontal field of view angle and a vertical field of view angle. The horizontal field of view angle is used to control the horizontal coverage position of the laser beam in the surrounding environment, and the vertical field of view angle is used to control the vertical coverage position of the laser beam in the surrounding environment, that is, to control the emission height of the laser beam.

[0210] In this case, in the case that there are pedestrians around the target vehicle, the horizontal field of view angle and the vertical field of view angle of the laser beam of the target vehicle can be controlled based on the bending angle of the curve and the first target angle.

[0211] Specifically, the operation of controlling the laser radar of the target vehicle to adjust the horizontal field of view angle and the vertical field of view angle of the laser beam based on the bending angle of the curve and the first target angle can be implemented in the following two possible cases.

[0212] First, in the case that the curve is a left curve, the laser radar is controlled to shift the horizontal field of view angle to the left by the bending angle of the curve, and the laser radar is controlled to adjust the vertical field of view angle to the first target angle.

[0213] Since the laser beams emitted by the laser radar cover the surrounding environment horizontally offset by the same angle as the bending angle of the left-turning curve when the target vehicle travels on the curve, the laser radar can be controlled to offset the horizontal field of view angle to the left by the bending angle of the curve. In addition, since the first target angle is an angle at which the laser beams of the laser radar cannot scan the eyes of the at least one pedestrian, the laser radar is controlled to adjust the vertical field of view angle to the first target angle.

[0214] In this case, the laser radar is controlled to offset the horizontal field of view angle to the left by the bending angle of the curve, so that the laser beams emitted by the laser radar uniformly cover the curve, thereby making the laser beams emitted by the laser radar all effective, so that the laser radar can accurately collect the surrounding environmental information. In addition, the laser radar is controlled to adjust the vertical field of view angle to the first target angle, so that the laser beams cannot scan the eyes of the at least one pedestrian, thereby protecting the eyes of the at least one pedestrian.

[0215] Optionally, after the bending angle of the curve and the first target angle are determined, a first control message can be sent to the laser radar, the first control message being a message for controlling the laser radar when the curve is a left curve.

[0216] The first control message carries the bending angle of the curve and the first target angle. After receiving the first control message, the laser radar can offset the horizontal field of view angle to the left by the bending angle and adjust the vertical field of view angle to the first target angle.

[0217] Second, in the case where the curve is a right curve, the laser radar is controlled to offset the horizontal field of view angle to the right by the bending angle of the curve, and the laser radar is controlled to adjust the vertical field of view angle to the first target angle.

[0218] Since the laser beams emitted by the laser radar cover the surrounding environment horizontally offset by the same angle as the bending angle of the right-turning curve when the target vehicle travels on the curve, the laser radar can be controlled to offset the horizontal field of view angle to the right by the bending angle of the curve. In addition, since the first target angle is an angle at which the laser beams of the laser radar cannot scan the eyes of the at least one pedestrian, the laser radar is controlled to adjust the vertical field of view angle to the first target angle.

[0219] In this case, the laser radar is controlled to offset the horizontal field of view angle to the right by the bending angle of the curve, so that the laser beams emitted by the laser radar uniformly cover the curve, thereby making the laser beams emitted by the laser radar all effective, so that the laser radar can accurately collect the surrounding environmental information. In addition, the laser radar is controlled to adjust the vertical field of view angle to the first target angle, so that the laser beams cannot scan the eyes of the at least one pedestrian, thereby protecting the eyes of the at least one pedestrian.

[0220] Optionally, after the bending angle of the curve and the first target angle are determined, a second control message can be sent to the laser radar, the second control message being a message for controlling the laser radar when the curve is a right curve.

[0221] The second control message carries the bending angle of the curve and the first target angle. After receiving the first control message, the laser radar can offset the horizontal field of view angle to the right by the bending angle and adjust the vertical field of view angle to the first target angle.

[0222] Optionally, in the case where it is determined that there is a pedestrian around the target vehicle, the field of view angle of the laser beam of the laser radar of the target vehicle can also be controlled based on the curvature of the curve and the pedestrian information of the pedestrian according to the position of the pedestrian.

[0223] Specifically, the relative position of the pedestrian and the target vehicle is determined, and the field of view angle of the laser beam of the laser radar of the target vehicle is controlled based on the relative position, the position of the laser radar, the curvature of the curve and the pedestrian information of the pedestrian.

[0224] In this case, the relative position of the pedestrian and the target vehicle is determined to obtain the position of the pedestrian around the target vehicle, and then the field of view angle of the laser beam of the laser radar is controlled based on the relative position, the position of the laser radar, the curvature of the curve and the pedestrian information of the pedestrian, so that the field of view angle of the laser beam of the laser radar can be flexibly controlled according to the position of the pedestrian.

[0225] Optionally, the relative position of the pedestrian and the target vehicle can be detected by a sensor of the target vehicle, and the sensor can be a laser radar, a millimeter wave radar, an ultrasonic wave, a camera, etc., which is not uniquely limited by the embodiments of the present application.

[0226] Optionally, the operation of controlling the laser radar of the target vehicle to adjust the field of view angle of the laser beam based on the relative position, the position of the laser radar, the curvature of the curve and the pedestrian information of the pedestrian can be: determining whether the pedestrian is in the emission range of the laser beam of the laser radar based on the relative position and the position of the laser radar; and in the case where the pedestrian is in the emission range of the laser beam, controlling the laser radar of the target vehicle to adjust the field of view angle of the laser beam based on the curvature of the curve and the pedestrian information of the pedestrian.

[0227] Firstly, whether the pedestrian is in the emission range of the laser beam of the laser radar is determined based on the relative position of the pedestrian and the target vehicle and the position of the laser radar, that is, whether the position where the pedestrian is located is scanned by the laser beam is determined, that is, whether the laser beam can cause damage to the eyes of the pedestrian is determined. In the case where it is determined that the pedestrian is in the emission range of the laser beam, the field of view angle of the laser beam of the laser radar of the target vehicle is adjusted, that is, in the case where it is determined that the laser beam can cause damage to the eyes of the pedestrian, the field of view angle of the laser beam is adjusted. In this way, accurate control of the laser radar can be realized, so that the normal working performance of the laser radar can be ensured while the laser beam is accurately ensured not to cause damage to the eyes of the pedestrian.

[0228] Further, in the case where the pedestrian is not in the emission range of the laser beam, the laser radar of the target vehicle is not controlled, that is, the field of view angle of the laser beam is not adjusted.

[0229] In this case, in the case where the pedestrian is not in the emission range of the laser beam, it is determined that the position where the pedestrian is located is not scanned by the laser beam, so it can be determined that the laser beam will not cause damage to the eyes of the pedestrian, and then the laser radar does not need to be controlled, that is, the field of view angle of the laser beam does not need to be adjusted. Thus, the laser radar can normally obtain the environmental information around the target vehicle, so that the normal working performance of the laser radar is not reduced.

[0230] In the case where the relative position is not in the emission range of the laser beam of the laser radar, it is determined that the pedestrian is not in the emission range of the laser beam of the laser radar.

[0231] Optionally, the emission range of the laser beam can be a fan-shaped region with the current field of view angle of the laser beam as the target angle and a preset distance as the radius. The preset distance is the maximum distance that the laser beam can propagate in the surrounding environment.

[0232] Optionally, the laser radars are installed on multiple parts of the target vehicle, for example, the laser radars are installed on the head part, the left front side part and the right front side part of the target vehicle. In this case, the laser radars on the corresponding parts of the target vehicle can also be controlled to adjust the field of view angle based on the curvature of the curve, the pedestrian information of the pedestrian and the position of the pedestrian.

[0233] Therefore, according to the position of the pedestrian, the field of view angle of the laser radar at the corresponding position on the target vehicle is adjusted, so that the laser radar can normally collect the environmental information around the target vehicle without damaging the eyes of the pedestrian, thereby ensuring that the working performance of the laser radar is not reduced.

[0234] For example, when it is detected that the pedestrian is located in front of the target vehicle, the field of view angle of the laser radar installed at the front position of the target vehicle can be adjusted. For another example, when it is detected that the pedestrian is located in the right front side direction of the target vehicle, the field of view angle of the laser radar at the right front side position of the target vehicle can be adjusted.

[0235] It is worth noting that when there is at least one pedestrian around the target vehicle, if it is detected that the at least one pedestrian is located at different positions relative to the target vehicle, the field of view angle of the laser radar at the position corresponding to the at least one pedestrian can be adjusted according to the position of the at least one pedestrian, based on the curvature of the curve and the pedestrian information of the at least one pedestrian.

[0236] For example, there are two pedestrians around the target vehicle, and it is detected that one pedestrian is located in front of the target vehicle and the other pedestrian is located in the right front side direction of the target vehicle. The field of view angle of the laser radar at the front position of the target vehicle can be adjusted based on the curvature of the curve and the pedestrian information of the first pedestrian, and the field of view angle of the laser radar at the front position of the target vehicle can be adjusted based on the curvature of the curve and the pedestrian information of the second pedestrian.

[0237] It is worth noting that during the driving of the target vehicle, the distance between the target vehicle and the pedestrian can change, which can affect the emission angle (vertical field of view angle) of the laser beam. Therefore, during the driving of the target vehicle, the pedestrian information of the pedestrian can be determined in real time, so that the field of view angle of the laser radar for adjusting the laser beam can be controlled in real time according to the real-time determined pedestrian information and the curvature of the curve, so that the laser beam emitted by the laser radar will not enter the eyes of the pedestrian during the driving of the vehicle.

[0238] For the convenience of understanding, the above-mentioned embodiments of the present application will be described in combination with the following Figure 7 The laser radar control method provided by the embodiments of the present application is exemplarily described. Referring to FIG. 7, Figure 7 , Figure 7 The steps 701-708 are included.

[0239] Step 701: The vehicle networking intelligent terminal of the target vehicle determines the position information of the target vehicle, and then sends the position information of the target vehicle to the intelligent driving domain controller.

[0240] Step 702: The intelligent driving domain controller acquires a high-precision map.

[0241] Step 703: The intelligent driving domain controller determines whether there is a curve ahead of the target vehicle based on the target vehicle's location information and high-precision map.

[0242] Step 704: When there is a curve in front of the target vehicle, the intelligent driving domain controller obtains the curvature of the curve.

[0243] Step 705: The intelligent driving domain controller performs pedestrian detection around the target vehicle to determine whether there are pedestrians around the target vehicle.

[0244] Step 706: When there are pedestrians around the target vehicle, the intelligent driving domain controller determines the curvature angle of the curve based on the curvature of the curve, and determines the first target angle based on the pedestrian information. The first target angle is the angle at which the laser beam of the lidar cannot scan the eyes of at least one pedestrian.

[0245] Step 707: The intelligent driving domain controller sends a first control message or a second control message to the lidar.

[0246] Step 708: After receiving the first control message or the second control message, the lidar uses the beam controller to shift the horizontal field of view to the left or right by the bending angle, and uses the beam controller to adjust the vertical field of view to the first target angle, thereby ensuring that the laser beams emitted by the lidar are effective and that the laser beams emitted by the lidar will not enter the human eye, thus protecting the human eye.

[0247] In this embodiment, the controller first determines whether there is a curve in front of the target vehicle. If a curve is found, the curvature of the curve is obtained. Then, pedestrian detection is performed around the target vehicle to determine if any pedestrians are present. If pedestrians are present, based on the curve's curvature and the pedestrian information, the controller adjusts the field of view of the laser beam of the target vehicle's lidar. This prevents the laser beam emitted by the lidar from entering the pedestrians' eyes, thus protecting their eyes from damage. Furthermore, adjusting the field of view while the vehicle is traveling on a curve can constrain ineffective laser beams, allowing the lidar to accurately acquire information about the surrounding environment.

[0248] Figure 8 This is a schematic diagram of a lidar control device provided in an embodiment of this application. The lidar control device can be implemented by software, hardware, or a combination of both as part or all of a vehicle, which can be described below. Figure 9 The vehicle shown. See also Figure 8The device comprises a first acquisition module 801, a first determination module 802, and a first control module 803.

[0249] The first acquisition module 801 is configured to acquire the curvature of the curve in the case where there is a curve in front of the target vehicle.

[0250] The first determination module 802 is configured to perform pedestrian detection on the surroundings of the target vehicle to determine whether there is a pedestrian in the surroundings of the target vehicle.

[0251] The first control module 803 is configured to, in the case where there is a pedestrian in the surroundings of the target vehicle, control the laser radar of the target vehicle to adjust the field of view angle of the laser beam based on the curvature of the curve and the pedestrian information of the pedestrian.

[0252] Optionally, the first control module 803 is configured to:

[0253] determine the relative position between the pedestrian and the target vehicle in the case where there is a pedestrian in the surroundings of the target vehicle;

[0254] control the laser radar of the target vehicle to adjust the field of view angle of the laser beam based on the relative position, the position of the laser radar, the curvature of the curve, and the pedestrian information of the pedestrian.

[0255] Optionally, the first control module 803 is configured to:

[0256] determine whether the pedestrian is in the emission range of the laser beam of the laser radar based on the relative position and the position of the laser radar;

[0257] control the laser radar of the target vehicle to adjust the field of view angle of the laser beam based on the curvature of the curve and the pedestrian information of the pedestrian in the case where the pedestrian is in the emission range of the laser beam.

[0258] Optionally, the pedestrian information of the pedestrian comprises the height of at least one pedestrian and the distance between the at least one pedestrian and the target vehicle, and the first control module 803 is configured to:

[0259] determine the bending angle of the curve based on the curvature of the curve;

[0260] acquire the height of a target pedestrian and a target distance from the pedestrian information, the height of the target pedestrian being the lowest height among the heights of the at least one pedestrian, and the target distance being the distance between the target pedestrian and the target vehicle;

[0261] determine a first target angle based on the height of the target pedestrian and the target distance, the first target angle being an angle at which the laser beam of the laser radar cannot scan the eyes of the at least one pedestrian;

[0262] control the laser radar of the target vehicle to adjust the field of view angle of the laser beam based on the bending angle of the curve and the first target angle.

[0263] Optionally, the first control module 803 is configured to:

[0264] in a case where the curve is a left curve, control the laser radar to shift the horizontal field of view angle to the left by the curve angle, and control the laser radar to adjust the vertical field of view angle to the first target angle;

[0265] in a case where the curve is a right curve, control the laser radar to shift the horizontal field of view angle to the right by the curve angle, and control the laser radar to adjust the vertical field of view angle to the first target angle.

[0266] Optionally, the apparatus further comprises:

[0267] the second control module is configured to, in a case where there is no pedestrian around the target vehicle and the curve is a left curve, control the laser radar to shift the horizontal field of view angle to the left by the curve angle of the curve if the curvature of the curve is less than or equal to a preset curvature threshold, or control the laser radar to shift the horizontal field of view angle to the left by a second target angle if the curvature of the curve is greater than the preset curvature threshold, the second target angle being a limit shift angle of the horizontal field of view angle;

[0268] the third control module is configured to, in a case where there is no pedestrian around the target vehicle and the curve is a right curve, control the laser radar to shift the horizontal field of view angle to the right by the curve angle of the curve if the curvature of the curve is less than or equal to the preset curvature threshold, or control the laser radar to shift the horizontal field of view angle to the right by the second target angle if the curvature of the curve is greater than the preset curvature threshold.

[0269] Optionally, the apparatus further comprises:

[0270] the second determination module is configured to determine a distance between the target vehicle and a starting position of the curve;

[0271] Optionally, the first control module 803 is configured to:

[0272] in a case where the distance between the target vehicle and the starting position of the curve is less than or equal to a preset distance threshold, control the laser radar of the target vehicle to adjust the field of view angle of the laser beam based on the curvature of the curve and the pedestrian information of the pedestrian.

[0273] Optionally, the apparatus further comprises:

[0274] the second acquisition module is configured to acquire, based on a position of the target vehicle, road information within a preset road range of the position from a high-definition map;

[0275] the third determination module is configured to determine that there is a curve in front of the target vehicle in a case where the road information includes curve information.

[0276] The fourth determining module is configured to determine that there is no curve ahead of the target vehicle in a case where the road information does not include curve information.

[0277] In the embodiments of the present application, it is first determined whether there is a curve ahead of the target vehicle, and in a case where it is determined that there is a curve ahead of the target vehicle, the curvature of the curve is acquired. Then, pedestrian detection is performed on the surroundings of the target vehicle to determine whether there is a pedestrian in the surroundings of the target vehicle. In a case where there is a pedestrian in the surroundings of the target vehicle, the field of view angle of the laser radar of the target vehicle is adjusted based on the curvature of the curve and the pedestrian information of the pedestrian, so as to avoid the laser beam emitted by the laser radar from entering the eyes of the pedestrian in a case where there is a pedestrian in the surroundings of the target vehicle, thereby avoiding the laser beam from causing damage to the eyes of the pedestrian, and the eyes of the pedestrian are protected. Moreover, the field of view angle is adjusted when the vehicle is driving on the curve, so as to constrain the invalid laser beam, thereby enabling the laser radar to accurately collect the surrounding environment information.

[0278] It should be noted that: the laser radar control device provided in the above embodiments controls the laser radar in the curve scene, and only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0279] Each functional unit and module in the above embodiments can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for mutual distinction, and do not limit the protection scope of the embodiments of the present application.

[0280] The laser radar control device and the laser radar control method provided in the above embodiments belong to the same concept, and the specific working process of the units and modules in the above embodiments and the resulting technical effects can be referred to the method embodiment part, which will not be described here.

[0281] Figure 9 is a structural schematic diagram of a vehicle provided in the embodiments of the present application.

[0282] For example, as shown in Figure 9 The vehicle includes a memory 91 and a processor 90, wherein the memory 91 stores executable program code 92, and the processor 90 is configured to call and execute the executable program code 92 to execute the above laser radar control method.

[0283] The embodiment can divide the vehicle into functional modules according to the method examples described above. For example, each functional module can be divided according to a function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical function division. In actual implementation, another division mode can be used.

[0284] In the case of dividing each functional module according to a function, the vehicle can include a first acquisition module, a first determination module, and a first control module. It should be noted that all related contents of each step involved in the method embodiments can be referred to the function description of the corresponding functional module, and will not be described here.

[0285] The vehicle provided by the embodiment is used to execute the method for controlling the laser radar, and thus the same effects as the implementation method can be achieved.

[0286] In the case of using an integrated unit, the vehicle can include a processing module and a storage module. The processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute program codes and data.

[0287] The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, a combination of digital signal processing (DSP) and microprocessor, and the like. The storage module can be a memory.

[0288] The embodiment further provides a computer readable storage medium, which stores computer program codes. When the computer program codes run on a computer, the computer is caused to execute the related method steps to implement the method for controlling the laser radar in the embodiment.

[0289] The embodiment further provides a computer program product, which causes a computer to execute the related steps when the computer program product runs on the computer, so as to implement the method for controlling the laser radar in the embodiment.

[0290] The vehicle, the computer readable storage medium, the computer program product or the chip provided by the embodiment are used to execute the corresponding method provided above, and thus the beneficial effects thereof can refer to the beneficial effects of the corresponding method provided above, which will not be described here.

[0291] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0292] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules or units is only a logical function division, and in actual implementation, there can be another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed ones can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0293] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A lidar control method, characterized in that, The method includes: If there is a curve in front of the target vehicle, obtain the curvature of the curve; Pedestrian detection is performed around the target vehicle to determine whether there are pedestrians around the target vehicle; When there are pedestrians around the target vehicle, the field of view of the laser beam of the target vehicle's lidar is adjusted based on the curvature of the curve and the pedestrian information. The step of controlling the lidar of the target vehicle to adjust the field of view of the laser beam based on the curvature of the curve and the pedestrian information includes: Based on the curvature of the curve, the bending angle of the curve is determined; The height and target distance of the target pedestrian are obtained from the pedestrian information, wherein the height of the target pedestrian is the lowest among at least one pedestrian's height, and the target distance is the distance between the target pedestrian and the target vehicle; The height of the target point is determined based on the height of the target pedestrian; a first target angle is determined by the tangent function based on the height of the target point and the target distance, the target point is located at two-thirds of the height of the target pedestrian, and the first target angle is the angle at which the laser beam of the lidar cannot scan the eyes of at least one pedestrian; The horizontal field of view of the laser beam of the lidar is controlled according to the curvature angle of the curve, and the vertical field of view of the laser beam of the lidar is controlled according to the first target angle.

2. The method as described in claim 1, characterized in that, When pedestrians are present around the target vehicle, based on the curvature of the curve and the pedestrian information, the lidar of the target vehicle is controlled to adjust the field of view of the laser beam, including: If there are pedestrians around the target vehicle, determine the relative positions of the pedestrians and the target vehicle; Based on the relative position, the position of the lidar, the curvature of the curve, and the pedestrian information, the lidar of the target vehicle is controlled to adjust the field of view of the laser beam.

3. The method as described in claim 2, characterized in that, The step of controlling the lidar of the target vehicle to adjust the field of view of the laser beam based on the relative position, the position of the lidar, the curvature of the curve, and the pedestrian information includes: Based on the relative position and the position of the lidar, determine whether the pedestrian is within the emission range of the lidar's laser beam; When the pedestrian is within the emission range of the laser beam, the laser radar of the target vehicle is controlled to adjust the field of view of the laser beam based on the curvature of the curve and the pedestrian information.

4. The method as described in claim 1, characterized in that, The step of controlling the laser radar of the target vehicle to adjust the field of view of the laser beam based on the curvature angle of the curve and the first target angle includes: When the curve is a left curve, the lidar is controlled to shift its horizontal field of view to the left by the curve angle; the lidar is also controlled to adjust its vertical field of view to the first target angle. When the curve is a right curve, the lidar is controlled to shift the horizontal field of view to the right by the curvature angle; the lidar is also controlled to adjust the vertical field of view to the first target angle.

5. The method as described in claim 1, characterized in that, The method further includes: If there are no pedestrians around the target vehicle and the curve is a left curve, and the curvature of the curve is less than or equal to a preset curvature threshold, the lidar is controlled to shift the horizontal field of view to the left by the curvature angle of the curve; if the curvature of the curve is greater than the preset curvature threshold, the lidar is controlled to shift the horizontal field of view to the left by a second target angle, where the second target angle is the limit shift angle of the horizontal field of view. If there are no pedestrians around the target vehicle and the curve is a right curve, and the curvature of the curve is less than or equal to the preset curvature threshold, the lidar is controlled to shift the horizontal field of view to the right by the curvature angle of the curve; if the curvature of the curve is greater than the preset curvature threshold, the lidar is controlled to shift the horizontal field of view to the right by the second target angle.

6. The method as described in claim 1, characterized in that, Before controlling the laser radar of the target vehicle to adjust the field of view of the laser beam based on the curvature of the curve and the pedestrian information, the method further includes: Determine the distance between the target vehicle and the starting position of the curve; The step of controlling the lidar of the target vehicle to adjust the field of view of the laser beam based on the curvature of the curve and the pedestrian information includes: When the distance between the target vehicle and the starting position is less than or equal to a preset distance threshold, the field of view of the laser beam of the target vehicle's lidar is adjusted based on the curvature of the curve and the pedestrian information.

7. The method as described in claim 1, characterized in that, Before obtaining the curvature of a curve in front of the target vehicle, the method further includes: Based on the location of the target vehicle, obtain road information within a preset road range of the location from a high-precision map; If the road information includes curve information, it is determined that there is a curve ahead of the target vehicle; If the road information does not include curve information, it is determined that there is no curve ahead of the target vehicle.

8. A lidar control device, characterized in that, The device includes: The first acquisition module is used to acquire the curvature of the curve when there is a curve in front of the target vehicle. The first determining module is used to detect pedestrians around the target vehicle and determine whether there are pedestrians around the target vehicle; The first control module is used to control the lidar of the target vehicle to adjust the field of view of the laser beam based on the curvature of the curve and the pedestrian information when there are pedestrians around the target vehicle. The first control module is specifically used for: determining the curvature angle of the curve based on the curvature of the curve; obtaining the height and target distance of the target pedestrian from the pedestrian information, wherein the height of the target pedestrian is the lowest among at least one pedestrian's height, and the target distance is the distance between the target pedestrian and the target vehicle; determining the height of the target point based on the height of the target pedestrian; determining a first target angle based on the height of the target point and the target distance using a tangent function, wherein the target point is located at two-thirds of the height of the target pedestrian, and the first target angle is the angle at which the laser beam of the lidar cannot scan the eyes of the at least one pedestrian; controlling the horizontal field of view of the lidar's laser beam according to the curvature angle of the curve, and controlling the vertical field of view of the lidar's laser beam according to the first target angle.

9. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 7.

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