Lidar, autonomous driving control method, and vehicle

Abstract

The application is suitable for the field of automatic driving technology, and provides a laser radar, an automatic driving control method and a vehicle. The laser radar comprises a shell, a mounting base, a plurality of mirror lens groups, a transmitter and a receiver arranged in the shell. The mounting base is in a columnar structure, and the mounting base can rotate around a central axis. The plurality of mirror lens groups are arranged on the side surface of the mounting base. Each mirror lens group comprises a plurality of mirror lenses arranged in a column and arranged in the same axial direction as the central axis of the mounting base. Each mirror lens can be extended and contracted to enable laser to irradiate on any mirror lens of the mirror lens group, and each mirror lens can be rotated to change the reflection angle of the laser. The transmitter is arranged at the top end or the bottom end of the mounting base. The receiver is used for receiving external laser signals. The application can solve the problems of large power consumption and large data generation of the existing laser radar in the automatic driving mode.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving technology, and particularly relates to a lidar, an autonomous driving control method, and a vehicle. Background Technology

[0002] As more and more autonomous vehicles are used and the configuration of sensors becomes more and more extensive, the power consumption of vehicles is increasing, which greatly affects the driving range of vehicles.

[0003] Especially for lidar, once the autonomous driving system is activated, lidar constantly scans the surrounding environment, resulting in significant power consumption and generating a large amount of data, causing long vehicle calculation times. Furthermore, prolonged operation of lidar in all states also affects its heat dissipation and lifespan. How to solve these problems with lidar without compromising autonomous driving is currently a major challenge. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a lidar, an autonomous driving control method, and a vehicle to solve the problems of high power consumption and large data generation of existing lidar in autonomous driving mode.

[0005] A first aspect of the present invention provides a lidar, characterized in that it includes: a housing and a mounting base disposed within the housing, a plurality of reflective lens groups, a transmitter, and a receiver;

[0006] The mounting base is a columnar structure and can rotate around its central axis;

[0007] Multiple reflector groups are arranged on the side of the mounting base; each reflector group includes multiple reflectors, which are arranged in a row and their orientation is the same as the central axis of the mounting base; each reflector is telescopic, so that the laser can irradiate any one of the reflectors in the reflector group, and each reflector is rotatable, so as to change the reflection angle of the laser.

[0008] The transmitter is located at the top or bottom of the mounting base and is used to emit laser light to any one of the reflective mirror groups. Through the extension and / or rotation of each reflective mirror in the reflective mirror group, the laser light is irradiated onto any one of the reflective mirrors in the reflective mirror group and reflected outward.

[0009] The receiver is used to receive external laser signals.

[0010] Optionally, the mounting base is a cylindrical structure, and the column spacing between any two adjacent reflector groups is the same.

[0011] Optionally, the number of transmitters is determined based on the preset lidar scanning range and is at least one;

[0012] If there is more than one transmitter, the laser emitted by each transmitter will illuminate different reflective lens groups, and the reflective lens groups illuminated by the laser will be adjacent to each other.

[0013] Optionally, the lidar may also include:

[0014] Drive motor and solenoid valve assembly;

[0015] Both the drive motor and the solenoid valve assembly are housed within the housing. The drive motor controls the rotation of the mounting base, while the solenoid valve assembly controls the extension and / or rotation of each reflective lens.

[0016] A second aspect of this invention provides an autonomous driving control method, which is applied to a lidar as described in the first aspect above; the method includes:

[0017] When the vehicle is in autonomous driving mode, it acquires real-time information about the environment around the vehicle.

[0018] Determine the current scene type based on environmental information;

[0019] The operating parameters of the LiDAR are controlled based on the scene type.

[0020] Optionally, environmental information includes environmental image information, lidar monitoring information, and GPS map information;

[0021] Determine the current scene type based on environmental information, including:

[0022] Based on environmental image information, lidar monitoring information, and GPS map information, determine whether the current scene type is a tracking driving type.

[0023] Optionally, the operating parameters of the LiDAR can be controlled based on the scene type, including:

[0024] If the current scenario type is a tracking driving type, then control the LiDAR to work with the first parameter. Under the first parameter, the LiDAR operates in a simplified state.

[0025] If the current scene type is not a tracking driving type, the lidar is controlled to operate with the second parameter. Under the second parameter, the lidar operates in full state.

[0026] Optionally, the operating parameters of the lidar can be controlled, including:

[0027] Control at least one of the following operating parameters of the lidar: the rotation speed and direction of the mounting base, the extension and retraction state of each reflector, and the rotation angle of each reflector.

[0028] A third aspect of the present invention provides a vehicle including a lidar as described in the first aspect and a terminal device. The terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the autonomous driving control method as described in the second aspect.

[0029] A fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the autonomous driving control method of the second aspect described above.

[0030] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0031] The lidar designed in this invention uses multiple rows of reflective mirrors mounted on a mounting base. Each reflective mirror in each row is extendable and rotatable, allowing the laser emitted from one end of any row of reflective mirrors to illuminate any single reflective mirror within that row and reflect off at different angles. This, in turn, enables scanning of different ranges by rotating the mounting base. Furthermore, the number of lasers activated, the rotation speed of the mounting base, and the reflective mirrors used and their angles can be controlled according to the detection requirements of different scenarios, allowing the lidar to operate in an appropriate mode. This solves the problem of high power consumption and large data generation caused by the need for all traditional lidars to be activated in autonomous driving mode. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a side-view view of the lidar provided in the embodiment of the present invention. Figure 1 ;

[0034] Figure 2 This is a side-view view of the lidar provided in the embodiment of the present invention. Figure 2 ;

[0035] Figure 3 This is a top view of the lidar provided in an embodiment of the present invention;

[0036] Figure 4 This is a flowchart illustrating the autonomous driving control method provided in an embodiment of the present invention;

[0037] Figure 5This is a schematic diagram of a terminal device provided in an embodiment of the present invention. Detailed Implementation

[0038] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of the invention. However, those skilled in the art will understand that the invention can be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of the invention with unnecessary detail.

[0039] To illustrate the technical solution described in this invention, specific embodiments are described below.

[0040] Figure 1 and Figure 2 This is a side view of the lidar provided in this embodiment. Figure 3 This is a top view of the lidar provided in this embodiment.

[0041] Please see also Figure 1 , Figure 2 and Figure 3 As shown, in this embodiment, the lidar includes: a housing and a mounting base disposed within the housing, multiple reflective lens groups, a transmitter, and a receiver.

[0042] The mounting base is a columnar structure, and the mounting base can rotate around its central axis (which can be...). Figure 1 or Figure 2 The drive motor control shown in the figure), the mounting base is used to install the reflective mirror, and reflective mirrors of different directions, angles, positions and numbers can be arranged as needed.

[0043] like Figure 3 As shown, multiple reflective lens groups a to f are arranged on the side of the mounting base, for comparison. Figure 1 and Figure 2 The side view shows that each reflector group comprises multiple reflectors (only reflectors 1 to 5 from one reflector group are shown in the figure). The reflectors are arranged in a row, with their orientation aligned with the central axis of the mounting base. Each reflector is extendable to allow the laser to illuminate any one of them. Each reflector is also rotatable to change the laser reflection angle.

[0044] The transmitter can be positioned at the top or bottom of the mounting base to emit laser light into any one of the reflective mirror groups. Through the extension, retraction, and / or rotation of the individual reflective mirrors within the group, the laser light is directed onto one of the mirrors and reflected outwards. For example, in... Figure 1When the reflector 5, closest to the transmitter, extends, the transmitter emits laser light through reflection from reflector 5. To use reflector 4 to reflect the laser light, reflector 5 retracts and reflector 4 extends. Similarly, during the rotating scanning process of the mounting base, the transmitter can emit laser light through any reflector in any reflector group. The receiver is used to receive external laser signals.

[0045] As one possible implementation, the mounting base is a cylindrical structure, and the column spacing between any two adjacent reflector groups is the same to ensure the stability of the lidar scanning data.

[0046] As one possible implementation, the number of transmitters is determined according to the preset lidar scanning range and is at least one. If the number of transmitters is greater than one, the laser emitted by each transmitter will illuminate different reflective lens groups, and the reflective lens groups illuminated by the laser will be adjacent to each other.

[0047] It should be noted that the more transmitters there are, the larger the scanning range of the lidar. For example, in Figure 3 In this configuration, three transmitters are set up, allowing the lidar to emit lasers through a maximum of three sets of reflective mirrors, i.e., d, e, and f in the diagram. To increase the maximum scanning range, the number of transmitters can be increased. Correspondingly, one or more receivers can be arranged depending on the required reception quality.

[0048] As one possible implementation, lidar also includes:

[0049] The drive motor and solenoid valve assembly are both housed within the housing.

[0050] The drive motor's shaft is connected to the mounting base, enabling the mounting base to rotate 360°. The rotation speed can be controlled, and the rotation of the mounting base can be controlled based on the scanning range and the rotation speed based on the scanning cycle.

[0051] The solenoid valve assembly includes multiple solenoid valves, each corresponding to a reflector. Each solenoid valve can control the extension, retraction, and rotation of its corresponding reflector. Specifically, the solenoid valves can be controlled via multi-axis motors, mechanical rotation, or other methods. The solenoid valve assembly can also control the regular extension, retraction, and refraction angle of the reflector at different frequencies according to the scene requirements. Extension and retraction at a certain frequency can cause a single beam of emitted light to reflect into multiple refracted rays, and the control of the refraction angle can control the scanning range.

[0052] In one embodiment, when the vehicle ECU determines that the LiDAR needs to be fully activated, the solenoid valve can control several reflective mirrors to extend and retract in a regular manner, adjusting their reflection angles to meet the required field of view. The drive motor can also control its rotation speed as needed. In simplified mode, the most suitable reflective mirror can be selected for reflection. For example, based on the size and status of the vehicle in front, mirror number 4 can be selected to operate at a 45° angle, while mirror number 5 is retracted, and mirrors 1, 2, and 3 are inactive. If the vehicle in front is directly in front, the motor can also remain inactive, maintaining a stable output of one or several beams of light for detection. Based on the vehicle ECU control and the radar scanning range, the transmitter position, solenoid valve operating status, and motor operating status can be determined.

[0053] As can be seen, the lidar designed in this embodiment, by mounting multiple rows of reflective mirrors on the mounting base, and with each reflective mirror in each row being extendable and rotatable, allows the laser emitted from one end of any row of reflective mirrors to illuminate any reflective mirror in that row and reflect it out at different angles. This, in turn, enables scanning of different ranges through the rotation of the mounting base. Furthermore, the number of lasers activated in the lidar, the rotation speed of the mounting base, and the reflective mirrors used and their angles can be controlled according to the detection requirements of different scenarios, allowing the lidar to operate in an appropriate mode. This solves the problem of high power consumption and large data generation caused by the need for all traditional lidars to be activated in autonomous driving mode.

[0054] Alternatively, as a possible implementation, each reflector can be replaced with a transmitter. In this case, by controlling each transmitter to turn on or off, the appropriate transmitter can be selected to directly emit laser light to the outside. By controlling the emission angle of each transmitter, the scanning angle of the lidar can be controlled. It should be noted that in this embodiment, a relatively large number of transmitters are used, resulting in relatively high costs.

[0055] This invention also provides an autonomous driving control method, which is applied to the lidar as described above. The method includes the following steps:

[0056] Step S101: When the vehicle is in autonomous driving mode, obtain real-time environmental information about the vehicle's surroundings.

[0057] Step S102: Determine the current scene type based on the environmental information.

[0058] Step S103: Control the operating parameters of the LiDAR based on the scene type.

[0059] In this embodiment, by leveraging the characteristics of LiDAR, after autonomous driving is activated, the operating parameters of LiDAR can be controlled according to the complexity of the driving scenario, and a suitable operating mode can be activated to reduce the power consumption of LiDAR and the amount of data processing for the entire vehicle.

[0060] In one embodiment, environmental information includes environmental image information, LiDAR monitoring information, and GPS map information. Determining the current scene type based on the environmental information includes:

[0061] Based on environmental image information, lidar monitoring information, and GPS map information, determine whether the current scene type is a tracking driving type.

[0062] Based on the scene type, the operating parameters of the LiDAR are controlled, including:

[0063] If the current scenario type is a tracking driving type, then control the LiDAR to work with the first parameter. Under the first parameter, the LiDAR operates in a simplified state.

[0064] If the current scene type is not a tracking driving type, the lidar is controlled to operate with the second parameter. Under the second parameter, the lidar operates in full state.

[0065] Controlling the operating parameters of the lidar includes:

[0066] Control at least one of the following operating parameters of the lidar: the rotation speed and direction of the mounting base, the extension and retraction state of each reflector, and the rotation angle of each reflector.

[0067] In this embodiment, see Figure 4 As shown, after manually or automatically activating autonomous driving, the vehicle operates in ECU mode 1. At this time, sensors such as cameras, LiDAR (mode 1), and navigation systems work together to identify the surrounding environment and provide route guidance. The sensors transmit the collected information to the vehicle controller. For example, cameras transmit environmental data to the vehicle controller for identification, and LiDAR transmits 3D modeling data of the surrounding environment. After collecting the data, the vehicle controller analyzes the surrounding environment and, based on data provided by navigation, such as geographical location and scene characteristics, determines whether the simplified sensor mode can be activated. In assessing the surrounding environment, the controller can combine information from the control strategy library or the internet to comprehensively determine whether activating the simplified sensor mode is recommended or suitable for the current driving route or environment.

[0068] After the vehicle ECU mode 1 is determined to be suitable for activating the simplified mode, the vehicle controller instructs the camera to continue monitoring the surrounding environment, the navigation system continues to guide the vehicle along the predetermined route, and the LiDAR scanning mode is simplified. For example, in highway scenarios, once the vehicle reaches the highway, the scene is relatively simple, the environment is straightforward, and the vehicle can track the vehicle in front. In this case, the LiDAR can determine which one or a few reflectors are working, only needing to measure the speed and distance of the vehicle in front to guide the vehicle's control strategy. Multiple reflectors no longer need to work simultaneously, eliminating the need to scan large amounts of data for the vehicle to process. Simultaneously, the camera transmits information to the vehicle controller for processing. The vehicle controller only needs to handle whether external vehicles or objects have suddenly entered the current lane, eliminating the need to process all information from the camera, thus reducing data processing volume, working time, and power consumption. The LiDAR only needs to track and monitor the vehicle in front, ensuring the distance between vehicles to avoid collisions. At this time, the vehicle operates in vehicle ECU mode 2. If the vehicle ahead of it changes abruptly, is lost, or is no longer needed to be tracked (e.g., the vehicle ahead changes lanes or the vehicle needs to change roads), the vehicle can return to LiDAR mode 1 and vehicle ECU mode 1, where the camera, navigation, and other sensors work together, until the next vehicle that can be tracked is found.

[0069] It should be noted that in radar mode 2, activating one or more reflective mirrors allows for a comprehensive assessment based on the size of the vehicle in front, determining which reflective mirror is more suitable or which adjustment provides more stable tracking information. The reflective mirrors can be extended, rotated, and controlled to adapt to beam adjustments. The control method is similar when the reflective mirrors are replaced with lasers, and will not be elaborated further.

[0070] The lidar and control scheme provided in this embodiment utilizes the working characteristics of lidar. Depending on the complexity of the scene, different lidar working modes can be adjusted, effectively reducing the workload of lidar and sensors, reducing the amount of data processing by the vehicle controller, and saving data processing time.

[0071] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0072] Figure 5 This is a schematic diagram of a terminal device 50 provided in an embodiment of the present invention. For example... Figure 5As shown, the terminal device 50 of this embodiment includes a processor 51, a memory 52, and a computer program 53 stored in the memory 52 and executable on the processor 51, such as an autonomous driving control program. When the processor 51 executes the computer program 53, it implements the steps in the various autonomous driving control method embodiments described above.

[0073] For example, computer program 53 can be divided into one or more modules / units, one or more of which are stored in memory 52 and executed by processor 51 to complete the present invention. One or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of computer program 53 in terminal device 50. For example, computer program 53 can be divided into an acquisition module, a judgment module, and a control module (modules in a virtual device), with the specific functions of each module as follows:

[0074] The acquisition module is used to acquire real-time environmental information about the vehicle's surroundings when the vehicle is in autonomous driving mode.

[0075] The judgment module is used to determine the current scene type based on environmental information.

[0076] The control module is used to control the operating parameters of the LiDAR based on the scene type.

[0077] Terminal device 50 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. Terminal device 50 may include, but is not limited to, a processor 51 and a memory 52. ​​Those skilled in the art will understand that... Figure 5 This is merely an example of terminal device 50 and does not constitute a limitation on terminal device 50. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal device 50 may also include input / output devices, network access devices, buses, etc.

[0078] The processor 51 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0079] The memory 52 can be an internal storage unit of the terminal device 50, such as a hard disk or RAM of the terminal device 50. The memory 52 can also be an external storage device of the terminal device 50, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the terminal device 50. Furthermore, the memory 52 can include both internal and external storage units of the terminal device 50. The memory 52 is used to store computer programs and other programs and data required by the terminal device 50. The memory 52 can also be used to temporarily store data that has been output or will be output.

[0080] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0082] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0083] In the embodiments provided by this invention, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0084] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0085] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0086] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0087] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A lidar, characterized in that, Includes: a housing and a mounting base disposed within the housing, multiple reflective lens assemblies, a transmitter, and a receiver; The mounting base is a columnar structure and is capable of rotating around its central axis; The plurality of reflective lens groups are disposed on the side of the mounting base; each reflective lens group includes a plurality of reflective lenses, which are arranged in a row and the arrangement direction is the same as the axial direction of the central axis of the mounting base; each reflective lens can extend and retract at a certain frequency to enable the laser to irradiate any reflective lens in the reflective lens group, and each reflective lens can rotate to change the reflection angle of the laser. The transmitter is disposed at the top or bottom of the mounting base and is used to emit laser light to any one of the reflective lens groups. Through the extension and / or rotation of each reflective lens in the reflective lens group, the laser light is irradiated onto any one of the reflective lenses in the reflective lens group and reflected outward. The receiver is used to receive external laser signals.

2. The lidar as described in claim 1, characterized in that, The mounting base is a cylindrical structure, and the column spacing between any two adjacent reflective lens groups is the same.

3. The lidar as described in claim 2, characterized in that, The number of transmitters is determined according to the preset lidar scanning range and is at least one; If the number of transmitters is greater than one, the laser emitted by each transmitter will illuminate different reflective lens groups, and the reflective lens groups illuminated by the laser will be adjacent to each other.

4. The lidar as described in claim 1, characterized in that, Also includes: Drive motor and solenoid valve assembly; Both the drive motor and the solenoid valve group are housed within the housing. The drive motor controls the rotation of the mounting base, and the solenoid valve group controls the extension and / or rotation of each reflective lens.

5. An automatic driving control method, characterized in that, The method is applied to the lidar as described in any one of claims 1-4; the method includes: When the vehicle is in autonomous driving mode, it acquires real-time information about the environment around the vehicle. Determine the current scene type based on the environmental information; The operating parameters of the lidar are controlled based on the scene type.

6. The automatic driving control method as described in claim 5, characterized in that, The environmental information includes environmental image information, lidar monitoring information, and GPS map information; Determining the current scene type based on the environmental information includes: Based on the environmental image information, the lidar monitoring information, and the GPS map information, determine whether the current scene type is a tracking driving type.

7. The automatic driving control method as described in claim 6, characterized in that, Based on the aforementioned scene type, the operating parameters of the lidar are controlled, including: If the current scene type is a tracking driving type, then control the lidar to work with the first parameter. Under the first parameter, the lidar operates in a simplified state. If the current scene type is not a tracking driving type, the lidar is controlled to operate with the second parameter, under the second parameter, the lidar operates in full state.

8. The automatic driving control method as described in claim 5, characterized in that, Controlling the operating parameters of the lidar includes: The following operating parameters of the lidar are controlled: the rotation speed and direction of the mounting base, the extension and retraction state of each reflector, and the rotation angle of each reflector.

9. A vehicle, characterized in that, The device includes a lidar as described in any one of claims 1-4 and a terminal device, wherein the terminal device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any one of claims 5 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 5 to 8.

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