Method and system for monitoring degradation of environmental sensor of vehicle, vehicle, computer program product

Abstract

The present application relates to a method for monitoring degradation of an environmental sensor of a vehicle, the method comprising the steps of: acquiring statistical data of the sensing performance of the environmental sensor with respect to a marking object (2) in the surroundings of the vehicle (1) over time; an environmental sensor that senses performance degradation is determined based at least on the acquired statistical data. The application also relates to a system for monitoring degradation of an environmental sensor of a vehicle, a vehicle and a computer program product. According to the method and the device, the influence of environmental influence and accidental factors on the sensing performance of the environmental sensor is eliminated, and the technical overhead of data collection and data processing of the environmental sensor is remarkably reduced, so that the degradation degree of the environmental sensor is efficiently and reliably judged, and a foundation is laid for reliable control of an auxiliary driving function.

Description

Technical Field

[0001] The present application relates to the field of vehicle-mounted sensors, and in particular to a method for monitoring degradation of an environmental sensor of a vehicle, a system for monitoring degradation of an environmental sensor of a vehicle, a vehicle comprising the system according to the present application, and a computer program product for at least assisting in implementing the steps of the method described in the present application. Background Art

[0002] Vehicles with assisted driving functions are usually equipped with various types of environmental sensors, including millimeter-wave radar, lidar and / or on-board cameras, etc., to sense data related to the vehicle's surrounding environment. During the operation of the assisted driving function, the accuracy of the data sensed by the environmental sensors plays a decisive role. However, these environmental sensors may degrade in performance as the operating time increases, resulting in a decrease in the accuracy of the sensed data, which in turn leads to a decrease in the comfort and safety of the assisted driving function.

[0003] Therefore, how to efficiently and accurately identify the degradation of a vehicle's environmental sensors has become a technical challenge that needs to be solved. Summary of the invention

[0004] The purpose of the present application is to provide a method for monitoring degradation of an environmental sensor of a vehicle, a system for monitoring degradation of an environmental sensor of a vehicle, a vehicle comprising the system according to the present application, and a computer program product, so as to at least partially solve the problems in the prior art.

[0005] According to a first aspect of the present application, there is provided a method for monitoring degradation of an environmental sensor of a vehicle, the method comprising the following steps:

[0006] - obtaining statistical data of changes over time in the sensing performance of the environmental sensor for the marked objects in the surrounding environment of the vehicle; and

[0007] - determining, based at least on the acquired statistical data, environmental sensors sensing performance degradation.

[0008] The core concept of the present application is to determine environmental sensors with degraded sensing performance based on statistical data of changes over time in the sensing performance of marked objects in the surrounding environment of the vehicle by the environmental sensors. In this way, not only the influence of environmental influences and accidental factors on the sensing performance of the environmental sensors is eliminated, but also the technical overhead of data collection and data processing of the environmental sensors is significantly reduced, thereby efficiently and reliably determining the degree of degradation of the environmental sensors, laying the foundation for reliable control of assisted driving functions.

[0009] According to an optional embodiment of the present application, if the sensing performance of the environmental sensor continues to drop below a sensing performance threshold associated with the environmental sensor over time, it may be determined that the sensing performance of the environmental sensor is degraded.

[0010] According to another optional embodiment of the present application, if an average value of the sensing performance of the environmental sensor with respect to time drops below a sensing performance threshold value associated with the environmental sensor, it may be determined that the sensing performance of the environmental sensor is degraded.

[0011] According to another optional embodiment of the present application, the sensing performance may include a sensing speed and / or sensing robustness of the environmental sensor with respect to a marked object in the surrounding environment of the vehicle.

[0012] According to another optional embodiment of the present application, the sensing speed of the environmental sensor for the marking object in the surrounding environment of the vehicle can be evaluated based on the following sensing distance value: when the distance between the vehicle and the marking object drops to the sensing distance value, the environmental sensor effectively detects the marking object in the surrounding environment of the vehicle for the first time, wherein the higher the sensing distance value, the higher the sensing speed of the environmental sensor - this is because the environmental sensor detects the marking object earlier, wherein the sensing distance value is particularly related to the driving speed of the vehicle.

[0013] According to another optional embodiment of the present application, the sensing robustness of the environmental sensor for the marked objects in the surrounding environment of the vehicle can be evaluated based on the following trigger number ratio: the trigger number ratio is the ratio of a first trigger number in which the environmental sensor effectively detects the marked objects in the surrounding environment of the vehicle within a predetermined time period relative to a second trigger number in which the environmental sensor ineffectively detects the marked objects, wherein the higher the trigger number ratio, the higher the sensing robustness of the environmental sensor.

[0014] According to another optional embodiment of the present application, the evaluation factor of the sensing performance of the environmental sensor for the marked object in the surrounding environment of the vehicle can be adjusted based on weather data about the weather conditions of the surrounding environment of the vehicle, wherein the weather data includes, for example, ambient temperature, visibility, rainfall, and / or light intensity, etc. Optionally, the evaluation factor of the sensing performance includes, for example, the weight of the sensing distance value, the weight of the triggering number ratio, and / or the sensing performance threshold, etc.

[0015] According to another optional embodiment of the present application, the marked object may be a marked object in infrastructure on a route traveled by the vehicle multiple times, wherein the marked object has one or more identifiable features, and the location information of the marked object is marked in the map of the vehicle. The marked object includes, for example, a bridge column, a building, a tower and / or a boundary wall in the infrastructure on the route traveled by the vehicle multiple times.

[0016] According to another optional embodiment of the present application, the environmental sensor includes, for example, a vehicle-mounted camera, a millimeter-wave radar, an ultrasonic radar and / or a laser radar, etc.

[0017] According to another optional embodiment of the present application, the method further includes the following steps:

[0018] -Sending notification information to the user about the environmental sensor sensing performance degradation.

[0019] According to a second aspect of the present application, a system for monitoring degradation of an environmental sensor of a vehicle is provided, wherein the system is used to perform the method according to the present application, wherein the system may include the following components:

[0020] - a statistical data acquisition module configured to acquire statistical data of changes over time in sensing performance of the environmental sensor for the marked objects in the surrounding environment of the vehicle; and

[0021] A degradation determination module configured to determine, based at least on the acquired statistical data, an environmental sensor sensing performance degradation.

[0022] According to another optional embodiment of the present application, the system may further include a notification module configured to send notification information about the environmental sensor with degraded sensing performance to a user.

[0023] According to a third aspect of the present application, a vehicle is provided, comprising a system according to the present application.

[0024] According to a fourth aspect of the present application, a computer program product, such as a computer-readable program carrier, is provided, which contains or stores computer program instructions, and when the computer program instructions are executed by a processor, they at least assist in implementing the steps of the method described in the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The principles, features and advantages of the present application may be better understood by describing the present application in more detail below with reference to the accompanying drawings. The accompanying drawings show:

[0026] Figure 1 A flowchart showing a method for monitoring degradation of an environmental sensor of a vehicle according to an exemplary embodiment of the present application;

[0027] Figure 2 A schematic diagram of a driving scenario according to an exemplary embodiment of the present application is shown;

[0028] Figure 3 A flowchart showing a method for monitoring degradation of an environmental sensor of a vehicle according to another exemplary embodiment of the present application; and

[0029] Figure 4 A schematic block diagram of a system for monitoring degradation of an environmental sensor of a vehicle according to an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the scope of protection of the present application.

[0031] Figure 1 A flowchart of a method for monitoring degradation of an environmental sensor of a vehicle according to an exemplary embodiment of the present application is shown. The following exemplary embodiments describe the method according to the present application in more detail.

[0032] like Figure 1 As shown, the method may include steps S1 to S2. In step S1, statistical data of the sensing performance of the environmental sensor for the marked object 2 in the surrounding environment of the vehicle 1 over time can be obtained. In the current embodiment of the present application, one or more environmental sensors are installed in the vehicle 1, including millimeter wave radar, laser radar, ultrasonic radar and / or vehicle-mounted camera, etc., to sense data related to the surrounding environment of the vehicle, and these data provide a basis for the control of the assisted driving function of the vehicle 1. These environmental sensors may degrade in performance as the operating time increases, so it is necessary to regularly test and record the sensing performance of the environmental sensors. In order to make the recorded sensing performance data comparable, a marked object 2 in the infrastructure on the route (such as a commuting route) where the vehicle 1 travels multiple times can be selected as a test object for the environmental sensor, and the marked object 2 has one or more identifiable features, so that when the vehicle 1 travels close to the marked object 2, the marked object can be reliably sensed by the environmental sensor of the vehicle 1 with a high probability. The position information of the marked object 2 is marked in the map of the vehicle 1, so that the existence and position of the marked object 2 can be determined based on the positioning data and map information of the vehicle 1 without the help of environmental sensors, so that the sensed data of the environmental sensors can be checked for credibility.

[0033] The sensing performance may include the sensing speed of the environmental sensor for the marker object 2 in the surrounding environment of the vehicle 1. Figure 2 In the schematic diagram of a driving scenario according to an exemplary embodiment of the present application, a vehicle 1 drives close to a marking object 2 beside a roadway on a route that has been driven multiple times, and the marking object 2 includes, for example, bridge pillars, buildings, towers and / or boundary walls in the infrastructure of the route. Here, the sensing speed of the environmental sensor for the marking object 2 in the surroundings of the vehicle 1 can be evaluated based on the following sensing distance value: when the distance between the vehicle 1 and the marking object 2 drops to the sensing distance value, the environmental sensor effectively detects the marking object 2 in the surroundings of the vehicle 1 for the first time. In the sense of the present application, "effective detection" means that the environmental sensor clearly identifies the identifiable features of the marking object 2 based on its sensing data, and then determines the existence of the marking object 2 and its position information. Here, "first time" means that the marked object 2 is effectively detected for the first time in the current time period when the vehicle 1 passes through the road section, that is, each time the vehicle 1 passes through the route and approaches the marked object 2, the marked object 2 will be detected again, and the sensing distance value of the first effective detection of the same marked object 2 will be regularly recorded, for example, the sensing distance value on the first day is 150m, the sensing distance value on the Nth day is 140m, the sensing distance value on the 2Nth day is 130m, and so on. It can be understood that the higher the sensing distance value, the higher the sensing speed of the environmental sensor.

[0034] It should be noted that the sensing speed of the environmental sensor is affected by the driving speed of the vehicle 1 to a certain extent. Therefore, the sensing distance value is related to the driving speed of the vehicle 1. When recording the sensing distance value, the corresponding vehicle driving speed can be recorded at the same time. The weight of the sensing distance value can be adjusted based on the recorded vehicle driving speed.

[0035] The sensing performance may also include the sensing robustness of the environmental sensor for the marker object 2 in the surroundings of the vehicle 1. Here, the sensing robustness of the environmental sensor for the marker object 2 in the surroundings of the vehicle 1 may be evaluated based on the following triggering number ratio: the triggering number ratio is a ratio of a first triggering number of times the environmental sensor effectively detects the marker object 2 in the surroundings of the vehicle 1 within a predetermined time period to a second triggering number of times the environmental sensor ineffectively detects the marker object 2. In the sense of the present application, "ineffective detection" means that the environmental sensor cannot clearly identify the identifiable features of the marker object 2 based on its sensing data, and thus cannot determine the existence of the marker object 2 and its position information. For example, on the first day, when the vehicle 1 is driving close to the marked object 2, the number of first triggers of the environmental sensor that effectively detects the marked object 2 is 5 times within M seconds, and the number of first triggers of the environmental sensor that invalidly detects the marked object 2 is 1 time, that is, the ratio of the number of triggers on the first day is 5; for example, on the Nth day, when the vehicle 1 is driving close to the marked object 2, the number of first triggers of the environmental sensor that effectively detects the marked object 2 is 6 times within M seconds, and the number of first triggers of the environmental sensor that invalidly detects the marked object 2 is 2 times, that is, the ratio of the number of triggers on the Nth day is 3; for example, on the 2Nth day, when the vehicle 1 is driving close to the marked object 2, the number of first triggers of the environmental sensor that effectively detects the marked object 2 is 3 times within M seconds, and the number of first triggers of the environmental sensor that invalidly detects the marked object 2 is 3 times, that is, the ratio of the number of triggers on the 2Nth day is 1. It can be understood that the higher the ratio of the number of triggers, the higher the sensing robustness of the environmental sensor.

[0036] In step S2, the environmental sensor with degraded sensing performance may be determined based at least on the acquired statistical data. If the sensing performance of the environmental sensor continues to drop below a sensing performance threshold associated with the environmental sensor over time, it may be determined that the sensing performance of the environmental sensor is degraded.

[0037] For example, according to the recorded statistical data, the sensing distance value of the environmental sensor continues to decrease over time, for example, the sensing distance value on the 1st day is 150m, the sensing distance value on the Nth day is 140m, and the sensing distance value on the 2Nth day is 130m, so the sensing speed of the environmental sensor also continues to decrease over time. When the sensing distance value of the environmental sensor drops below the sensing performance threshold associated with the environmental sensor, it can be determined that the sensing speed of the environmental sensor can no longer meet the requirements of the assisted driving function control of the vehicle 1.

[0038] For another example, according to the recorded statistical data, the triggering times ratio of the environmental sensor continues to decrease over time, for example, the triggering times ratio on the 1st day is 5, the triggering times ratio on the Nth day is 3, and the triggering times ratio on the 2Nth day is 1, so the sensing robustness of the environmental sensor also continues to decrease over time. When the triggering times ratio of the environmental sensor drops below the sensing performance threshold associated with the environmental sensor, it can be determined that the sensing robustness of the environmental sensor can no longer meet the requirements of the assisted driving function control of the vehicle 1.

[0039] Considering that weather interference has a great influence on the sensing performance of the environmental sensor, especially on the sensing speed and / or sensing robustness of the environmental sensor, the evaluation factor of the sensing performance of the environmental sensor for the marked object 2 in the surrounding environment of the vehicle 1 can be adjusted based on weather data about the weather conditions of the surrounding environment of the vehicle 1, so as to eliminate the influence of weather interference on the sensing performance of the environmental sensor as much as possible. The weather data includes, for example, ambient temperature, visibility, rainfall and / or light intensity, etc. These weather data can be detected and obtained by the on-board sensors of the vehicle 1 (such as rainfall sensors, light intensity sensors and / or temperature sensors, etc.), or directly obtained from the backend server.

[0040] The evaluation factor of the sensing performance may include a weight of the sensing distance value. For example, in cases of heavy rainfall, low visibility and / or low light intensity, considering that the sensing speed of the environmental sensor will drop significantly under such weather conditions, that is, the sensing distance value at which the environmental sensor effectively detects the marked object 2 for the first time will increase significantly, the weight of the sensing distance value can be adjusted based on weather data to eliminate the influence of such weather conditions on the sensing speed of the environmental sensor as much as possible.

[0041] The evaluation factor of the sensing performance may also include a weight of the trigger number ratio. For example, in cases of heavy rainfall, low visibility and / or low light intensity, considering that the sensing robustness of the environmental sensor will drop significantly under such weather conditions, the weight of the trigger number ratio may be adjusted based on weather data to eliminate the impact of such weather conditions on the sensing robustness of the environmental sensor as much as possible.

[0042] The sensing performance evaluation factor may also include the sensing performance threshold. For example, in cases of heavy rainfall, low visibility and / or low light intensity, considering that the sensing performance of the environmental sensor will drop significantly under such weather conditions, the sensing performance threshold can be adjusted based on weather data to eliminate the influence of such weather conditions on the judgment criteria of the sensing performance of the environmental sensor as much as possible.

[0043] In addition, considering that the sensing performance of the environmental sensor is affected by weather interference and misjudgments that may occur during the operation of the environmental sensor, it may happen randomly that the environmental sensor fails to detect the marked object 2 at a certain trigger time at an appropriate sensing distance value, while the trigger time before or after the trigger time can effectively detect the marked object 2. In this case, the sensing performance data of the environmental sensor during the trigger time can be considered as an "abnormal value". Here, since the data for evaluating the degree of degradation of the environmental sensor is the statistical data of the sensing performance of the environmental sensor over a longer period of time, such "abnormal values" can be eliminated by calculating the average value of the sensing performance of the environmental sensor over time. If the average value of the sensing performance of the environmental sensor over time drops below the sensing performance threshold associated with the environmental sensor, it can be determined that the sensing performance of the environmental sensor is degraded.

[0044] According to the embodiments of the present application, environmental sensors with degraded sensing performance can be determined based on the statistical data of changes over time in the sensing performance of environmental sensors for marked objects in the surrounding environment of the vehicle. In this way, not only the influence of environmental influences and accidental factors on the sensing performance of environmental sensors is eliminated, but also the technical overhead of data collection and data processing of environmental sensors is significantly reduced, thereby efficiently and reliably determining the degree of degradation of environmental sensors, laying the foundation for reliable control of assisted driving functions.

[0045] Figure 3 FIG. 1 shows a flowchart of a method for monitoring degradation of an environmental sensor of a vehicle according to another exemplary embodiment of the present application. Figure 1 The differences between the embodiments shown in FIG. 1 and FIG. 2 are as follows, and the same steps are not described repeatedly for the sake of brevity.

[0046] The method may further include step S3. In step S3, notification information about the environmental sensor with degraded sensing performance may be sent to the user. Here, the acoustic notification information may be sent to the user via an in-vehicle voice device, or may be sent to the user via a head-up display, a central control display screen, and / or an instrument panel, so that the user can timely understand the degree of degradation of the environmental sensor and take over vehicle control when necessary.

[0047] In addition, it should be noted that the step numbers described herein do not necessarily represent a chronological order, but are merely a figure mark. The order can be changed according to specific circumstances as long as the technical purpose of the present application can be achieved.

[0048] Figure 4 A schematic block diagram of a system 10 for monitoring degradation of an environmental sensor of a vehicle according to an exemplary embodiment of the present application is shown.

[0049] like Figure 4 As shown, the system 10 may include the following components:

[0050] A statistical data acquisition module 11 configured to acquire statistical data of changes in sensing performance of the environmental sensor for the marker object 2 in the surrounding environment of the vehicle 1 over time; and

[0051] A degradation determination module 12 configured to determine, based at least on the acquired statistical data, environmental sensors sensing performance degradation.

[0052] Optionally, the system 10 may further include a notification module 13, which is configured to send notification information about environmental sensors with degraded sensing performance to a user, wherein the notification module 13 includes, for example, an in-vehicle voice device, a head-up display, a central control display screen and / or an instrument panel.

[0053] It should be understood that, in this document, the expressions "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance, nor should they be understood as implicitly indicating the number of the indicated technical features.

[0054] If an embodiment includes an “and / or” relationship between a first feature and a second feature, it should be interpreted as follows: according to one embodiment, the embodiment has both the first feature and the second feature, and according to another embodiment, the embodiment has either only the first feature or only the second feature.

[0055] Although specific embodiments have been described above, these embodiments are not intended to limit the scope of the present disclosure, even when only a single embodiment is described with respect to specific features. The feature examples provided in the present disclosure are intended to be illustrative, not restrictive, unless otherwise stated. In specific implementations, multiple features may be combined with each other, where technically feasible, according to actual needs. Various substitutions, changes, and modifications may also be conceived without departing from the spirit and scope of the present application.

Claims

1. A method for monitoring degradation of an environmental sensor of a vehicle (1), the method comprising the following steps: Obtaining statistical data of changes over time in the sensing performance of the environmental sensor for the marked object (2) in the surrounding environment of the vehicle (1); and Environmental sensors with degraded sensing performance are determined based at least on the acquired statistical data.

2. The method according to claim 1, wherein: If the sensing performance of the environmental sensor continues to drop below a sensing performance threshold associated with the environmental sensor over time, determining that the sensing performance of the environmental sensor is degraded; and / or If the average value of the sensing performance of the environmental sensor over time drops below a sensing performance threshold associated with the environmental sensor, determining that the sensing performance of the environmental sensor is degraded; and / or The sensing performance includes the sensing speed and / or sensing robustness of the environment sensor for the marked object (2) in the surrounding environment of the vehicle (1).

3. A method according to any one of the preceding claims, wherein: The sensing speed of the environment sensor for the marking object (2) in the surroundings of the vehicle (1) is evaluated based on the following sensing distance value: when the distance between the vehicle (1) and the marking object (2) drops to the sensing distance value, the environment sensor effectively detects the marking object (2) in the surroundings of the vehicle (1) for the first time, wherein the higher the sensing distance value, the higher the sensing speed of the environment sensor, wherein the sensing distance value is particularly related to the driving speed of the vehicle (1); and / or The sensing robustness of the environmental sensor for a marked object (2) in the surroundings of a vehicle (1) is evaluated based on the following trigger number ratio: the trigger number ratio is a ratio of a first trigger number in which the environmental sensor effectively detects a marked object (2) in the surroundings of the vehicle (1) relative to a second trigger number in which the environmental sensor ineffectively detects the marked object (2) within a predetermined time period, wherein the higher the trigger number ratio, the higher the sensing robustness of the environmental sensor.

4. A method according to any one of the preceding claims, wherein: Adjusting an evaluation factor of an environmental sensor's sensing performance of a marker object (2) in the surroundings of the vehicle (1) based on weather data regarding weather conditions of the surroundings of the vehicle (1), wherein the weather data includes ambient temperature, visibility, rainfall, and / or light intensity; and / or The evaluation factor of the sensing performance includes a weight of the sensing distance value, a weight of the triggering number ratio and / or the sensing performance threshold.

5. A method according to any one of the preceding claims, wherein: The marked object (2) is a marked object (2) in the infrastructure on the route traveled by the vehicle (1) multiple times, wherein the marked object (2) has one or more identifiable features, and the position information of the marked object (2) is marked in the map of the vehicle (1); and / or The marked objects (2) include bridge pillars, buildings, towers and / or boundary walls in infrastructure on the route that the vehicle (1) travels multiple times; and / or The environmental sensor includes a vehicle-mounted camera, a millimeter-wave radar, an ultrasonic radar and / or a laser radar.

6. A method according to any one of the preceding claims, wherein: The method further comprises the following steps: Notification information about the environmental sensor sensing performance degradation is sent to the user.

7. A system (10) for monitoring degradation of an environmental sensor of a vehicle (1), the system (10) being adapted to perform a method according to any one of the preceding claims, wherein: The system (10) comprises the following components: A statistical data acquisition module (11) configured to acquire statistical data of changes over time in the sensing performance of the environmental sensor for the marked object (2) in the surrounding environment of the vehicle (1); and A degradation determination module (12) is configured to determine an environmental sensor whose sensing performance is degraded based at least on the acquired statistical data.

8. The system (10) according to claim 7, wherein: The system (10) further comprises a notification module (13) configured to send notification information about the environmental sensor sensing performance degradation to a user.

9. A vehicle (1) comprising a system (10) according to claim 7 or 8. 10 . A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions, which, when executed by a processor, at least assist in implementing the steps of the method according to claim 1 .

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