A method and apparatus for perceiving an environment, a vehicle, and a computer readable storage medium

Abstract

The embodiment of the present application provides a kind of environmental perception method, device, vehicle and computer readable storage medium, the method comprises: obtaining the first environment perception data obtained by the first sensor for the target orientation of environmental perception;According to the first environment perception data, determine the confidence of the first sensor for the target orientation of the environment of current perception;When the confidence is lower than the preset value, rotate the second sensor, and call the second sensor to perceive the environment of the target orientation, obtain the second environment perception data output by the second sensor.By the embodiment of the present application, the environment of a position is supplemented by calling different sensors to perceive, the accuracy of the environment perception of the position is ensured, and the problems of the environment corresponding to the position can also be found in time, so that the corresponding problems can be handled in time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of environment perception, and in particular to an environment perception method and device, a vehicle, and a computer readable storage medium. BACKGROUND

[0002] In order to perceive the environment in which the vehicle is located, a plurality of sensors can be arranged on the vehicle to perceive the environment outside (and / or inside) the vehicle.

[0003] In actual application, the sensors can be fixedly arranged at different positions of the vehicle to perceive the environment in different directions. However, the fixedly arranged sensors can only perceive the environment in one direction, and the situation during the driving of the vehicle is changing (for example, the environment changes, the sensor fails, misjudgment, etc.), and it is impossible to accurately and timely perceive the environment in the direction by using the sensor corresponding to the direction. SUMMARY

[0004] In view of the above problems, an environment perception method, device, vehicle, and computer readable storage medium are provided to overcome the above problems or at least partially solve the above problems, comprising:

[0005] An environment perception method applied to a vehicle, wherein the vehicle is provided with a fixed first sensor and a rotatable second sensor, the first sensor is used to perceive the environment in a target direction of the vehicle, and the method comprises:

[0006] obtaining first environment perception data obtained by the first sensor for perceiving the environment in the target direction;

[0007] determining a confidence degree of the perception of the first sensor for the environment in the target direction according to the first environment perception data;

[0008] when the confidence degree is lower than a preset value, rotating the second sensor, calling the second sensor to perceive the environment in the target direction, and obtaining second environment perception data output by the second sensor.

[0009] Optionally, the confidence degree of the perception of the first sensor for the environment in the target direction according to the first environment perception data comprises:

[0010] identifying the first environment perception data to determine the current environment in which the vehicle is located and obstacle information in the current environment;

[0011] determining the confidence degree of the perception of the first sensor for the environment in the target direction according to the current environment and the obstacle information.

[0012] Optionally, the first environment perception data comprises current environment perception data and historical environment perception data, and the determining the confidence of the perception of the environment of the target orientation by the first sensor comprises:

[0013] determining change information of the current environment perception data relative to the historical environment perception data;

[0014] determining the confidence of the perception of the environment of the target orientation by the first sensor according to the change information.

[0015] Optionally, the method further comprises:

[0016] generating target environment perception data of the environment of the target orientation according to the first environment perception data and the second environment perception data.

[0017] Optionally, the first sensor comprises a plurality of sensors, and the second environment sensor comprises at least one sensor; the method further comprises:

[0018] selecting a first sensor with the lowest confidence as a target environment perception sensor;

[0019] the rotating the second sensor comprises:

[0020] rotating the second sensor to an orientation corresponding to the target environment perception sensor.

[0021] Optionally, the rotating the second sensor comprises:

[0022] determining first pose information of the second sensor;

[0023] determining second pose information corresponding to the target orientation;

[0024] rotating the second sensor according to the first pose information and the second pose information.

[0025] Optionally, the first sensor is a first camera fixed on a vehicle, and the second sensor is a second rotatable camera.

[0026] wherein a pixel of the second camera is higher than a pixel of the first camera.

[0027] Embodiments of the present application also provide an environment perception device, applied to a vehicle, wherein the vehicle is provided with a fixed first sensor and a rotatable second sensor, the first sensor is used for perceiving an environment of a target orientation of the vehicle, and the device comprises:

[0028] obtain, by a first sensor, first environment perception data of an environment of a target orientation;

[0029] determine, by a confidence determination module, a confidence of the first sensor in perceiving the environment of the target orientation according to the first environment perception data;

[0030] rotate, by a rotating module, the second sensor when the confidence is lower than a preset value, and call the second sensor to perceive the environment of the target orientation to obtain second environment perception data output by the second sensor.

[0031] Optionally, the confidence determination module is configured to identify the first environment perception data to determine an environment in which the vehicle is currently located and obstacle information in the environment; and determine the confidence of the first sensor in perceiving the environment of the target orientation according to the environment in which the vehicle is currently located and the obstacle information.

[0032] Optionally, the first environment perception data includes current environment perception data and historical environment perception data, and the confidence determination module is configured to determine change information of the current environment perception data relative to the historical environment perception data; and determine the confidence of the first sensor in perceiving the environment of the target orientation according to the change information.

[0033] Optionally, the apparatus further comprises:

[0034] generate, by a target environment perception data generation module, target environment perception data of the environment of the target orientation according to the first environment perception data and the second environment perception data.

[0035] Optionally, the first sensor includes a plurality of sensors, and the second environment sensor includes at least one sensor; and the apparatus further comprises:

[0036] determine, by a target environment perception sensor determination module, a first sensor with the lowest confidence as a target environment perception sensor;

[0037] rotate, by the rotating module, the second sensor to the orientation corresponding to the target environment perception sensor.

[0038] Optionally, the rotating module is configured to determine first pose information of the second sensor currently located; determine second pose information corresponding to the target orientation; and rotate the second sensor according to the first pose information and the second pose information.

[0039] Optionally, the first sensor is a first camera fixed on the vehicle, and the second sensor is a second rotatable camera.

[0040] The second camera has a higher pixel than the first camera.

[0041] The embodiment of the present application also provides a vehicle, comprising a processor, a memory, a computer program stored in the memory and capable of running on the processor, and a fixed first sensor and a rotatable second sensor, wherein the computer program is executed by the processor to realize the environment perception method as above.

[0042] The embodiment of the present application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the environment perception method as above.

[0043] The embodiment of the present application has the following advantages:

[0044] In the embodiment of the present application, the first environment perception data obtained by the first sensor for the target orientation is acquired, the confidence of the first sensor for the target orientation is determined according to the first environment perception data, when the confidence is lower than a preset value, the second sensor is rotated, and the second sensor is called to perceive the environment of the target orientation to obtain the second environment perception data output by the second sensor. Through the embodiment of the present application, different sensors are called to supplement the perception of the environment of an orientation, the accuracy of the environment perception of the orientation is ensured, and problems in the environment corresponding to the orientation can be found in time, so that the corresponding problems can be processed in time. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the description of the present application. 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.

[0046] Figure 1 is a step flow chart of an environment perception method of an embodiment of the present application;

[0047] Figure 2 is a step flow chart of another environment perception method of an embodiment of the present application;

[0048] Figure 3 is a step flow chart of another environment perception method of an embodiment of the present application;

[0049] Figure 4is a step flow chart of a sensing method of an environment according to an embodiment of the present application;

[0050] Figure 5 is a structural schematic diagram of a sensing device of an environment according to an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the above objectives, characteristics and advantages of the present application more apparent, comprehensible and easier to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0052] In order to timely and accurately sense the environment inside and / or outside the vehicle during driving, an embodiment of the present application provides a sensing method of an environment, which can pre-deploy a fixed first sensor and a rotatable second sensor in the vehicle.

[0053] The fixed first sensor can fixedly sense the environment of a direction of the vehicle (either the environment outside the vehicle or the environment inside the vehicle) and output first environment sensing data; the second sensor can supplementally sense the environment of the direction corresponding to the first sensor according to the first environment sensing data, so that the environment of a direction is sensed by calling different sensors, the accuracy of the sensing of the environment of the direction is ensured, and problems in the environment corresponding to the direction can be timely discovered for timely processing of the corresponding problems.

[0054] Reference Figure 1 is a step flow chart of a sensing method of an environment according to an embodiment of the present application, which can be applied to a vehicle that can be deployed with a fixed first sensor and a rotatable second sensor.

[0055] The first sensor is used for sensing the environment of a target direction of the vehicle, and the first sensor can be an environment sensing sensor; the sensing method of the environment can include the following steps:

[0056] Step 101, obtaining first environment sensing data sensed by the first sensor for the target direction.

[0057] In actual application, when it is needed to determine whether the environment of the target direction corresponding to the first sensor needs to be supplementally sensed, the first environment sensing data sensed by the first sensor for the target direction can be obtained first.

[0058] As an example, the first environment perception data can be image data, or data generated by a sensor for perceiving an environment, and the embodiments of the present application do not limit this.

[0059] As another example, the first environment perception data can be acquired from the first sensor in real time, or the first environment perception data cached by the first sensor in a period of time can be acquired from the first sensor at a preset time interval, and the embodiments of the present application do not limit this.

[0060] Step 102, determining a confidence of the first sensor in current perception of an environment for the target orientation according to the first environment perception data.

[0061] After obtaining the first environment perception data, whether the first sensor is currently reliable in perception of the environment for the target orientation can be determined according to the first environment perception data.

[0062] Specifically, a confidence of the first sensor in current perception of the environment for the target orientation can be determined according to the first environment perception data, and the confidence can be used to identify whether the first sensor is currently reliable in perception of the environment for the target orientation.

[0063] As an example, when the confidence is higher, it indicates that the first sensor is more reliable in current perception of the environment for the target orientation, and when the confidence is lower, it indicates that the first sensor is less reliable in current perception of the environment for the target orientation.

[0064] Step 103, when the confidence is lower than a preset value, rotating the second sensor and calling the second sensor to perceive the environment for the target orientation to obtain second environment perception data output by the second sensor.

[0065] After determining the confidence of the first sensor in current perception of the environment for the target orientation, whether the first sensor is currently reliable in perception of the environment for the target orientation can be determined according to the confidence and a preset preset value. Specifically, if the confidence is higher than the preset value, it indicates that the first sensor is currently reliable in perception of the environment for the target orientation, and at this time, the first sensor can continue to be used to perceive the environment for the target orientation.

[0066] If the confidence is lower than the preset value, it indicates that the first sensor is currently unreliable in perception of the environment for the target orientation, and at this time, the second sensor can be called to supplement the perception of the environment for the target orientation, and the second sensor can also be an environment perception sensor.

[0067] Specifically, the second sensor can be rotated to an angle at which the second sensor can perceive the environment for the target orientation, and then the second sensor can be called to perceive the environment for the target orientation.

[0068] The second sensor can output second environment sensing data when sensing the environment of the target position, and the second environment sensing data can be used to supplement the first environment sensing data to more accurately sense the situation of the environment of the target position; and based on the more accurate sensing result, problems in the environment corresponding to the target position can be found in time, so that the corresponding problems can be processed in time.

[0069] In an embodiment of the present application, the first sensor is a first camera fixed on the vehicle, and the second sensor is a second rotatable camera.

[0070] In actual application, the first sensor can be a first camera fixed on the vehicle, and the first environment sensing data can be image data collected by the first sensor for the environment of the target position; the second sensor can be a second rotatable camera deployed on the vehicle, and the second environment sensing data can be image data collected by the second sensor for the environment of the target position after the second sensor is rotated to be able to shoot the environment of the target position.

[0071] As an example, the first camera can be a binocular camera.

[0072] As another example, the pixels of the second camera can be higher than those of the first camera, so that when supplementally sensing the environment, a device with higher accuracy can be used to provide more accurate supplementally sensing.

[0073] In an embodiment of the present application, the first environment sensing data sensed by the first sensor for the environment of the target position is obtained; the confidence of the sensing of the first sensor for the environment of the target position is determined according to the first environment sensing data; when the confidence is lower than a preset value, the second sensor is rotated, and the second sensor is called to sense the environment of the target position to obtain second environment sensing data output by the second sensor. Through the embodiment of the present application, different sensors are called to supplementally sense the environment of a position, the accuracy of the sensing of the environment of the position is ensured, and problems in the environment corresponding to the position can also be found in time to process the corresponding problems in time.

[0074] Referring to Figure 2 , another step flowchart of an environment sensing method according to an embodiment of the present application is shown, which can include the following steps:

[0075] Step 201, obtaining first environment sensing data sensed by a first sensor for an environment of a target position.

[0076] In actual application, when it is needed to determine whether supplementary sensing is needed for the environment corresponding to the target orientation of the first sensor, first environment sensing data obtained by the first sensor for the target orientation thereof can be acquired.

[0077] In step 202, the first environment sensing data is identified to determine the current environment of the vehicle and obstacle information in the current environment.

[0078] After obtaining the first environment sensing data, the first environment sensing data can be identified to determine the current environment of the vehicle and obstacle information in the current environment.

[0079] The current environment can include the current road, weather of the current driving area, visibility of the current driving area, and can also include road information and traffic signs; the obstacle information can include fixed obstacles and static obstacles, and can also include whether there are obstacles, the orientation and distance of the obstacles relative to the vehicle, and the like, which are not limited by the embodiments of the present application.

[0080] In step 203, the confidence of the sensing of the environment of the target orientation by the first sensor is determined according to the current environment and the obstacle information.

[0081] After determining the current environment and the obstacle information, the confidence of the sensing of the environment of the target orientation by the first sensor can be calculated according to the current environment and the obstacle information.

[0082] For example, the current environment indicates that the vehicle is currently driving in an area with low visibility, and the obstacle information indicates that there are no obstacles around; at this time, in order to ensure the driving safety of the vehicle, it can be determined that the confidence of the sensing of the environment of the target orientation by the first sensor is low, so that the second sensor can be called to perform supplementary sensing on the environment of the target orientation.

[0083] It should be noted that the above-mentioned confidence calculation method can be set according to actual conditions, for example, different confidence levels can be set for different obstacle information in different environments, or different confidence levels can be set for different obstacle information in different environments, which are not limited by the embodiments of the present application.

[0084] In step 204, when the confidence is lower than a preset value, the second sensor is rotated, and the second sensor is called to sense the environment of the target orientation to obtain second environment sensing data output by the second sensor.

[0085] After determining the confidence of the sensing of the environment of the target orientation by the first sensor, whether the sensing of the environment of the target orientation by the first sensor is reliable can be determined according to the confidence and a preset preset value.

[0086] If the confidence is higher than the preset value, it can be indicated that the current environment perception of the first sensor for the target orientation is reliable; at this time, the first sensor can be continued to be used to perceive the environment of the target orientation.

[0087] If the confidence is lower than the preset value, it can be indicated that the current environment perception of the first sensor for the target orientation is unreliable; at this time, the second sensor can be called to supplement the environment perception of the target orientation. Specifically, the second sensor can be rotated to an angle at which the environment of the target orientation can be perceived; then, the second sensor can be called to perceive the environment of the target orientation.

[0088] When the second sensor perceives the environment of the target orientation, the second environment perception data can be output to supplement the first environment perception data.

[0089] Step 205: generating target environment perception data of the environment of the target orientation according to the first environment perception data and the second environment perception data.

[0090] After obtaining the first environment perception data and the second environment perception data, the target environment perception data of the environment of the target orientation can be generated according to the first environment perception data and the second environment perception data; for example, the first environment perception data and the second environment perception data can be fused to obtain the target environment perception data, or when the first environment perception data and the second environment perception data are different, the second environment perception data can be taken as the target environment perception data, and the present embodiment does not limit this.

[0091] In the present embodiment, the first environment perception data obtained by the first sensor perceiving the environment of the target orientation is acquired; the first environment perception data is identified to determine the current environment in which the vehicle is located and the obstacle information in the current environment; the confidence of the current environment perception of the first sensor for the environment of the target orientation is determined according to the current environment and the obstacle information; when the confidence is lower than the preset value, the second sensor is rotated, and the second sensor is called to perceive the environment of the target orientation to obtain the second environment perception data output by the second sensor; and the target environment perception data of the environment of the target orientation is generated according to the first environment perception data and the second environment perception data. Through the present embodiment, different sensors are called to supplement the perception of the environment of a certain orientation, the accuracy of the environment perception of the certain orientation is ensured, and problems in the environment corresponding to the certain orientation can also be found in time so as to process the corresponding problems in time.

[0092] Referring to Figure 3 , a step flowchart of another kind of environment perception method of the present embodiment is shown, which can include the following steps:

[0093] Step 301, obtaining first environment perception data obtained by the first sensor for the target orientation, the first environment perception data including current environment perception data and historical environment perception data.

[0094] In actual application, when it is needed to determine whether the environment corresponding to the target access of the first sensor needs to be supplemented, the first environment perception data obtained by the first sensor for the target orientation can be obtained first.

[0095] As an example, the first environment perception data can include historical environment perception data output by the first sensor after historical environment perception for the target orientation in a historical time period, and current environment perception data output after current environment perception for the target orientation.

[0096] The historical environment perception data can include historical environment and historical obstacle information, the historical environment can refer to the road where the vehicle is located, the weather of the driving area, the visibility of the driving area, etc. in the historical time period; the historical obstacle information can refer to the obstacle information in the historical environment. The current environment perception data can include the current environment and the obstacle information in the current environment.

[0097] Step 302, determining the change information of the current environment perception data relative to the historical environment perception data.

[0098] After obtaining the current environment perception data and the historical environment perception data, the change information of the current environment perception data relative to the historical environment perception data can be generated according to the change of the environment represented by the current environment perception data relative to the environment represented by the historical environment perception data (for example: the current environment perception data represents the existence of an object while the historical environment perception data represents the non-existence of the object, or the current environment perception data represents the non-existence of an object while the historical environment perception data represents the existence of the object, or the position of the obstacle corresponding to the current environment perception data is different from the position of the obstacle corresponding to the historical environment perception data).

[0099] For example, the current time is 11:30:00, at 11:29:00, there is a vehicle driving in the right front of the vehicle, at 11:30:00, there is no vehicle in the right front of the vehicle; then it can be determined that the change information is that the other vehicle in the right front disappears.

[0100] Step 303, determining the confidence of the perception of the first sensor for the target orientation according to the change information.

[0101] After obtaining the change information of the current environment perception data relative to the historical environment perception data, the confidence of the first sensor in the current perception of the environment of the target orientation can be determined according to the change information.

[0102] As a continuation of the above example: there can be various situations in which the other vehicle disappears, such as: the first sensor does not currently perceive the other vehicle (in fact, the vehicle is still there), the other vehicle drives to the rear of the vehicle, etc.; if it is not currently perceived, it can become a hidden danger for the autonomous vehicle.

[0103] Therefore, at this time, it can be determined that the confidence of the first sensor in the current perception of the environment of the target orientation is low, so as to call the second sensor to supplement the environment perception of the target orientation.

[0104] Step 304: when the confidence is lower than the preset value, rotating the second sensor, and calling the second sensor to perceive the environment of the target orientation to obtain second environment perception data output by the second sensor.

[0105] After determining the confidence of the first sensor in the current perception of the environment of the target orientation, whether the current environment perception of the first sensor for the target orientation is reliable can be determined according to the confidence and a preset preset value.

[0106] If the confidence is higher than the preset value, it can be indicated that the current environment perception of the first sensor for the target orientation is reliable; at this time, the first sensor can continue to be used to perceive the environment of the target orientation.

[0107] If the confidence is lower than the preset value, it can be indicated that the current environment perception of the first sensor for the target orientation is unreliable; at this time, the second sensor can be called to supplement the environment perception of the target orientation. Specifically, the second sensor can be rotated to an angle at which the second sensor can perceive the environment of the target orientation; then, the second sensor can be called to perceive the environment of the target orientation.

[0108] When the second sensor perceives the environment of the target orientation, second environment perception data can be output to supplement the first environment perception data.

[0109] In an embodiment of the present application, the second sensor can be rotated through the following sub-steps:

[0110] Sub-step 11: determining first pose information of the second sensor currently located.

[0111] In actual application, the second sensor can be supplementally sensing other orientation, at this time, the second sensor is directed to the direction of the other orientation; in order to call the second sensor to supplementally sense the environment of the target orientation, the first pose information currently located by the second sensor can be determined.

[0112] As an example, the first pose information and the second pose information can be identified by roll, pitch, yaw; the second pose information can be obtained by the IMU (Inertial Measurement Unit) disposed at the second sensor.

[0113] Sub-step 12, determining the second pose information corresponding to the target orientation.

[0114] When the second sensor needs to be called to supplementally sense the environment of the target orientation, the second pose information corresponding to the target orientation can also be determined; the second pose information can be set in advance for the target orientation, so that the second sensor can sense the environment of the target orientation.

[0115] Sub-step 13, rotating the second sensor according to the first pose information and the second pose information.

[0116] After obtaining the first pose information and the second pose information, the second sensor can be rotated according to the first pose information and the second pose information, so as to rotate the second environment sensor from the orientation corresponding to the first pose information to the orientation that can sense the environment of the target orientation.

[0117] In the embodiment of the application, the first environment sensing data obtained by the first sensor for sensing the environment of the target orientation is obtained, the first environment sensing data includes current environment sensing data and historical environment sensing data; the change information of the current environment sensing data relative to the historical environment sensing data is determined; the confidence degree of the sensing of the first sensor for the environment of the target orientation is determined according to the change information; when the confidence degree is lower than a preset value, the second sensor is rotated, and the second sensor is called to sense the environment of the target orientation, and the second environment sensing data output by the second sensor is obtained. Through the embodiment of the application, different sensors are called to supplementally sense the environment of an orientation, the accuracy of the environment sensing of the orientation is ensured, and problems in the environment corresponding to the orientation can also be found in time, so that the corresponding problems can be processed in time.

[0118] Referring to Figure 4 , another step flowchart of the environment sensing method of the embodiment of the application is shown, which can include the following steps:

[0119] Step 401, obtaining the first environment sensing data obtained by the first sensor for sensing the environment of the target orientation.

[0120] In practical applications, when it is needed to determine whether it is needed to supplement the perception of the environment corresponding to the target accessed by the first sensor, the first environment perception data obtained by the first sensor for the target orientation thereof can be acquired first.

[0121] In step 402, the first sensor includes a plurality of sensors, and the second environment sensor includes at least one sensor; and the confidence of the perception of the environment of the target orientation by the first sensor is determined according to the first environment perception data.

[0122] In practical applications, the first sensor can include a plurality of sensors, and different first sensors can be used to perceive the environment of different orientations of the vehicle. The second environment sensor can include at least one sensor, and of course, in order to ensure that the environment of different orientations can be supplemented and perceived at the same time, a plurality of second sensors can also be provided, and then it can be determined according to the working state (supplemental perception or sleep) which second sensor is called to supplement the perception.

[0123] During the driving of the vehicle, the confidence of the perception of the environment of the target orientation by each first sensor can be determined according to the first environment perception data of each first sensor; for example, the confidence of the perception of the environment of the target orientation by the first sensor A can be determined according to the first environment perception data of the first sensor A; the confidence of the perception of the environment of the target orientation by the first sensor B can be determined according to the first environment perception data of the first sensor B; and the confidence of the perception of the environment of the target orientation by the first sensor C can be determined according to the first environment perception data of the first sensor C, and the embodiments of the present application are not limited thereto.

[0124] In step 403, the first sensor with the lowest confidence is taken as the target environment perception sensor.

[0125] After the confidence corresponding to each first sensor is determined, the first sensor with the lowest confidence can be taken as the target environment perception sensor.

[0126] Of course, one or more first sensors with a confidence lower than a preset value can also be taken as the target environment perception sensor, and the embodiments of the present application are not limited thereto.

[0127] In step 404, the second sensor is rotated to the orientation corresponding to the target environment perception sensor.

[0128] After the target environment perception sensor is determined, the second sensor can be rotated to a position where the environment of the orientation corresponding to the target environment perception sensor can be collected.

[0129] At step 405, the second sensor is called to perceive the environment at the orientation corresponding to the target environment perception sensor, to obtain second environment perception data output by the second sensor.

[0130] Then, the second sensor can be called to supplementally perceive the environment at the orientation corresponding to the target environment perception sensor, and the second sensor can be called to perceive the environment at the orientation corresponding to the target environment perception sensor.

[0131] In the embodiment of the present application, first environment perception data obtained by a first sensor perceiving an environment at a target orientation is acquired; the first sensor includes a plurality of sensors, and the second environment sensor includes at least one sensor; a confidence degree of the perception of the environment at the target orientation by the first sensor is determined according to the first environment perception data; a first sensor with the lowest confidence degree is taken as a target environment perception sensor; the second sensor is rotated to the orientation corresponding to the target environment perception sensor; and the second sensor is called to perceive the environment at the orientation corresponding to the target environment perception sensor, to obtain second environment perception data output by the second sensor. Through the embodiment of the present application, different sensors are called to supplementally perceive the environment at different orientations of the vehicle, the accuracy of the environment perception at different orientations is ensured, and problems in the environment at different orientations can be found in time, so that the corresponding problems can be processed in time.

[0132] It should be noted that, for the method embodiment, in order to simply describe, all are described as a series of action combinations, but those skilled in the art should know that the embodiment of the present application is not limited by the described action sequence, because according to the embodiment of the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiment of the present application.

[0133] Referring to Figure 5 , a structural schematic diagram of an environment perception device according to an embodiment of the present application is shown, which can be applied to a vehicle, and the vehicle can be provided with fixed first sensors and rotatable second sensors.

[0134] The first sensor is used to perceive an environment at a target orientation of the vehicle; the environment perception device can include the following modules:

[0135] The acquisition module 501 is used to acquire first environment perception data obtained by a first sensor perceiving an environment at a target orientation;

[0136] The confidence degree determination module 502 is used to determine a confidence degree of the perception of the environment at the target orientation by the first sensor according to the first environment perception data;

[0137] The rotating module 503 is configured to rotate the second sensor when the confidence level is lower than the preset value, and to call the second sensor to perceive the environment of the target direction to obtain second environment perception data output by the second sensor.

[0138] In an optional embodiment of the present application, the confidence level determination module 502 is configured to identify the first environment perception data to determine the current environment in which the vehicle is located and obstacle information in the current environment, and to determine the confidence level of the perception of the environment of the target direction by the first sensor according to the current environment and the obstacle information.

[0139] In an optional embodiment of the present application, the first environment perception data includes current environment perception data and historical environment perception data, and the confidence level determination module 502 is configured to determine change information of the current environment perception data relative to the historical environment perception data, and to determine the confidence level of the perception of the environment of the target direction by the first sensor according to the change information.

[0140] In an optional embodiment of the present application, the apparatus further comprises:

[0141] The target environment perception data generation module is configured to generate target environment perception data of the environment of the target direction according to the first environment perception data and the second environment perception data.

[0142] In an optional embodiment of the present application, the first sensor includes a plurality of sensors, and the second environment sensor includes at least one sensor; and the apparatus further comprises:

[0143] The target environment perception sensor determination module is configured to determine the first sensor with the lowest confidence level as the target environment perception sensor.

[0144] The rotating module 503 is configured to rotate the second sensor to the direction corresponding to the target environment perception sensor.

[0145] In an optional embodiment of the present application, the rotating module 503 is configured to determine first pose information of the second sensor currently located, to determine second pose information corresponding to the target direction, and to rotate the second sensor according to the first pose information and the second pose information.

[0146] In an optional embodiment of the present application, the first sensor is a first camera fixed on the vehicle, and the second sensor is a second camera rotatable.

[0147] In an optional embodiment of the present application, the pixel of the second camera is higher than that of the first camera.

[0148] In the embodiment of the present application, the first sensor obtains the first environment perception data obtained by the environment perception of the target direction; the confidence of the current environment perception of the target direction by the first sensor is determined according to the first environment perception data; when the confidence is lower than the preset value, the second sensor is rotated, and the second sensor is called to perceive the environment of the target direction to obtain the second environment perception data output by the second sensor. Through the embodiment of the present application, the environment of a direction is supplemented and perceived by calling different sensors, the accuracy of the environment perception of the direction is ensured, and problems in the environment corresponding to the direction can also be found in time so as to process the corresponding problems in time.

[0149] The embodiment of the present application also provides a vehicle, which comprises a processor, a memory, a computer program stored on the memory and capable of running on the processor, and a fixed first sensor and a rotatable second sensor, and the computer program realizes the environment perception method as above when executed by the processor.

[0150] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the computer program realizes the environment perception method as above when executed by the processor.

[0151] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts refer to the part of the method embodiment.

[0152] Each embodiment in the specification is described in a progressive manner, and each embodiment mainly describes the difference from other embodiments, and the same and similar parts of each embodiment refer to each other.

[0153] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a device, or a computer program product. Therefore, the embodiments of the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0154] The embodiments of the present application are described with reference to the flowchart illustrations and / or block diagrams of the methods, terminal devices (systems) and computer program products according to the embodiments of the present application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal devices to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal devices, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0155] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal devices to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices, such that a series of operational steps are performed on the computer or other programmable terminal devices to produce a computer implemented process so that the instructions executed on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams.

[0157] Although preferred embodiments of the present application have been described, those skilled in the art will be able to make additional modifications and variations to the embodiments without departing from the scope of the present application. Accordingly, the appended claims are intended to encompass all such modifications and variations as falling within the scope of the embodiments of the present application.

[0158] Finally, it needs to be pointed out that, in this article, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the term "includes", "contains" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or terminal device. Without more limitations, the element defined by the statement "includes a" does not exclude the presence of other identical elements in the process, method, article or terminal device including the element.

[0159] The above detailed description of the provided environment perception method, device, vehicle and computer readable storage medium, this article applies specific examples to the principle and implementation of the application are described, the above example is only for help understanding the method of the present application and its core idea; At the same time, for those skilled in the art, according to the idea of the present application, the specific implementation and application range will be changed; In view of the above, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method of sensing an environment, characterized by, The method is applied to a vehicle, the vehicle is deployed with a fixed first sensor and a rotatable second sensor, the first sensor is used for sensing an environment of a target orientation of the vehicle, and the method comprises the following steps: obtaining first environment sensing data obtained by the first sensor in sensing the environment of the target orientation; determining a confidence degree of the first sensor in sensing the environment of the target orientation according to the first environment sensing data; when the confidence degree is lower than a preset value, rotating the second sensor and calling the second sensor to sense the environment of the target orientation to obtain second environment sensing data output by the second sensor; wherein, the confidence degree of the first sensor in sensing the environment of the target orientation is determined according to the first environment sensing data, comprising: identifying the first environment sensing data to determine a current environment in which the vehicle is located and obstacle information in the current environment; determining the confidence degree of the first sensor in sensing the environment of the target orientation according to the current environment and the obstacle information.

2. The method of claim 1, wherein, The first environment sensing data comprises current environment sensing data and historical environment sensing data, and the confidence degree of the first sensor in sensing the environment of the target orientation is determined according to the first environment sensing data, comprising: determining change information of the current environment sensing data relative to the historical environment sensing data; determining the confidence degree of the first sensor in sensing the environment of the target orientation according to the change information.

3. The method of claim 1, wherein, The method further comprises: generating target environment sensing data of the environment of the target orientation according to the first environment sensing data and the second environment sensing data.

4. The method of claim 1, wherein, The first sensor comprises a plurality of sensors, and the second sensor comprises at least one sensor; The method further comprises: taking the first sensor with the lowest confidence degree as a target environment sensing sensor; the rotating of the second sensor comprises: rotating the second sensor to the orientation corresponding to the target environment sensing sensor.

5. The method of claim 1, wherein, The rotating of the second sensor comprises: determining first pose information of the second sensor currently located; determining second pose information corresponding to the target orientation; rotating the second sensor according to the first pose information and the second pose information.

6. The method according to any one of claims 1 to 5, characterized in that, The first sensor is a first camera fixed on the vehicle, and the second sensor is a rotatable second camera; wherein, the pixel of the second camera is higher than that of the first camera.

7. A sensing device of an environment, characterized by The method is applied to a vehicle, the vehicle is deployed with a fixed first sensor and a rotatable second sensor, the first sensor is used for sensing an environment of a target orientation of the vehicle, and the method comprises the following steps: an acquisition module, configured to acquire first environment sensing data obtained by the first sensor in sensing the environment of the target orientation; a confidence degree determination module, configured to determine a confidence degree of the first sensor in sensing the environment of the target orientation according to the first environment sensing data; a rotating module, configured to rotate the second sensor and invoke the second sensor to perceive the environment of the target direction to obtain second environment perception data output by the second sensor when the confidence is lower than a preset value; the confidence determination module is configured to identify the first environment perception data to determine an environment in which the vehicle is currently located and obstacle information in the environment in which the vehicle is currently located, and determine the confidence of the perception of the environment of the target direction by the first sensor according to the environment in which the vehicle is currently located and the obstacle information.

8. A vehicle characterized by comprising: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the environment perception method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the environment perception method according to any one of claims 1 to 6.

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