Vehicle-mounted laser radar illuminance compensation system and compensation method

Abstract

The invention discloses a vehicle-mounted laser radar illuminance compensation method, and belongs to the technical field of laser radar detection, and the method comprises the steps: obtaining the real-time illumination intensity entering a vehicle-mounted laser radar window; comparing the real-time illumination intensity with a standard illumination intensity table, wherein the standard illumination intensity table corresponds to standard compensation data; and adjusting the working parameters of the vehicle-mounted laser radar according to the comparison condition of the real-time illumination intensity and the standard illumination intensity table. According to the vehicle-mounted laser radar illuminance compensation method, the vehicle-mounted laser radar is ensured to be in the optimal working state through corresponding parameter compensation or angle adjustment according to the illumination intensity in the window, damage of natural light to the vehicle-mounted laser radar can be avoided, the service life of the vehicle-mounted laser radar is prolonged, and the vehicle-mounted laser radar illuminance compensation method is suitable for popularization and application. And the vehicle-mounted laser radar can be ensured to be in an optimal working state, the driving experience of a user is improved, and the driving potential safety hazard can be reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser radar detection, and in particular relates to a vehicle-mounted laser radar illumination compensation system and a compensation method. Background Art

[0002] With the continuous improvement of people's living standards and the rapid development of automotive electronic automation, the use of LiDAR in smart cars is becoming more and more common, and there are more and more application scenarios. At present, the mainstream wavelengths of vehicle-mounted LiDAR are 905nm and 1550nm. When the intensity of sunlight is relatively high during the day, the strong sunlight will interfere with the detection of vehicle-mounted LiDAR. Especially when the vehicle is driving towards the sun and the window of the LiDAR is also facing the sun, the interference of sunlight on the vehicle-mounted LiDAR is relatively serious. If it is not processed, it will cause obvious noise points in the LiDAR point cloud, causing the performance of the LiDAR to decline, resulting in poor driving experience for users and even driving safety hazards.

[0003] To address the problem of vehicle-mounted LiDAR being disturbed by direct sunlight, currently, sun visors are mainly installed on the outside of the LiDAR to block the optical fiber directly exposed to sunlight and reduce the interference of sunlight; or special filters are used at the photoelectric detection end of the LiDAR to block the ultraviolet and infrared optical fibers in the sunlight to reduce background noise, etc. Although the above methods can reduce direct sunlight, they will also affect the detection of the LiDAR and cause the performance of the LiDAR to deteriorate. Summary of the invention

[0004] In response to one or more of the above defects or improvement needs of the prior art, the present invention provides a vehicle-mounted laser radar illumination compensation method to solve the problem that the detection performance of the existing vehicle-mounted laser radar will be reduced when avoiding direct sunlight.

[0005] To achieve the above object, the present invention provides a method for compensating illumination of a vehicle-mounted laser radar, which comprises the following steps:

[0006] S1. Obtain the real-time light intensity entering the vehicle-mounted laser radar window;

[0007] S2. Compare the real-time light intensity with a standard light intensity table, wherein the standard light intensity table corresponds to standard compensation data;

[0008] S3. Adjust the operating parameters of the vehicle-mounted laser radar according to the comparison between the real-time light intensity and the standard light intensity table;

[0009] When the real-time light intensity is within the first standard threshold of the standard light intensity table, there is no need to adjust the laser radar working parameters;

[0010] When the real-time light intensity is within the second standard threshold of the standard light intensity table, the laser radar working parameters are compensated according to the standard compensation data to obtain the laser radar working state after compensation;

[0011] When the real-time light intensity is greater than the second standard threshold of the standard light intensity table, the laser radar angle is adjusted so that the laser radar is at the standard performance angle. When the laser radar is at the standard performance angle, the real-time light intensity of the window of the vehicle-mounted laser radar falls within the standard light intensity table. The laser radar operating parameters are compensated according to the standard compensation data to obtain the compensated laser radar working state.

[0012] As a further improvement of the present invention, the laser radar working parameter compensation includes: one or more of the laser radar working voltage adjustment, laser emission intensity adjustment, laser receiving sensitivity adjustment, and laser radar pitch angle adjustment.

[0013] As a further improvement of the present invention, the preparation of the standard light intensity table includes:

[0014] Collect the light intensity of natural ambient light in the working adaptation environment of the laser radar, obtain the maximum light intensity and the minimum light intensity of the natural ambient light, divide the light intensity between the maximum light intensity and the minimum light intensity into n intervals, adjust the vehicle-mounted laser radar under n gears to the optimal state, and record the optimal working voltage, laser emission intensity, laser receiving sensitivity and pitch angle of the laser radar under each gear as the compensation data under the gear.

[0015] As a further improvement of the present invention, the real-time light intensity collection of the vehicle-mounted laser radar window includes:

[0016] During the use of the vehicle-mounted laser radar, the light intensity of the vehicle-mounted laser radar window is collected at a first time interval, and the light intensities collected at multiple first time intervals in a second time interval are averaged to obtain the real-time light intensity in the second time interval.

[0017] As a further improvement of the present invention, the real-time light intensity is stored through a data cache module, the standard light intensity table and each gear compensation data are stored through a data storage module, and the real-time light intensity is stored in the data storage module after comparison and adjustment, and the comparison between the real-time light intensity and the standard light intensity table is performed through a data processing module.

[0018] As a further improvement of the present invention, the first standard threshold falls within the second standard threshold, and the interval of the second standard threshold is composed of n intervals between the maximum light intensity and the minimum light intensity.

[0019] As a further improvement of the present invention, when the real-time light intensity is within the second standard threshold of the standard light intensity table, the optimal working voltage, laser emission intensity and laser receiving sensitivity of the corresponding interval are called according to the interval in which the real-time light intensity is located, and the working voltage, laser emission intensity and laser receiving sensitivity of the vehicle-mounted laser radar are adjusted accordingly.

[0020] As a further improvement of the present invention, when the real-time light intensity is greater than the second standard threshold of the standard light intensity table, the pitch angle of the vehicle-mounted laser radar is adjusted so that the real-time light intensity falls at gear n or gear n-1. The compensation data of the corresponding gear is called according to the gear of the vehicle-mounted laser radar, and the working state of the vehicle-mounted laser radar is adjusted.

[0021] As a further improvement of the present invention, the present invention further comprises step S4:

[0022] When the vehicle-mounted laser radar is in the working state of adjusting the pitch angle, the real-time light intensity in the vehicle-mounted laser radar window is obtained. When the real-time light intensity is at the first standard threshold, the vehicle-mounted laser radar is adjusted to the initial angle position, the real-time light intensity in the vehicle-mounted laser radar window is obtained, and the laser radar working parameters are compensated according to the light intensity table to obtain the compensated laser radar working state.

[0023] The present application also includes a vehicle-mounted laser radar illumination compensation system, which is used to execute the vehicle-mounted laser radar illumination compensation method, and includes:

[0024] A laser transmitter and a laser receiver, wherein the laser transmitter is used to emit a laser signal and the laser receiver is used to receive the laser signal;

[0025] A photoelectric illumination sensor disposed between the laser emitter and the laser receiver, the photoelectric illumination sensor being used to receive the light intensity entering the window where the laser emitter and the laser receiver are located;

[0026] An adjustment mechanism provided between the laser transmitter and the laser receiver, the adjustment mechanism being used to adjust the elevation angle of the laser transmitter and the laser receiver;

[0027] A control mechanism, the control mechanism comprising a data processing module, a data cache module and a data storage module;

[0028] The data cache module is used to store real-time light intensity;

[0029] The data storage module is used to store the standard light intensity table and compensation data for each gear, as well as to store the real-time light intensity after comparison and adjustment;

[0030] The data processing module is used to retrieve the real-time light intensity data of the data cache module and the standard light intensity table of the data storage module, and obtain compensation parameters under real-time light intensity to correspondingly adjust the pitch angles of the laser transmitter and the laser receiver.

[0031] The present application also includes a vehicle, which includes the vehicle-mounted laser radar illumination compensation system.

[0032] The above-mentioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0033] In general, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

[0034] (1) The vehicle-mounted laser radar illumination compensation method of the present invention divides the vehicle-mounted laser radar into multiple working states according to the light intensity received by the vehicle-mounted laser radar window. When the real-time light intensity is within the first standard threshold, the natural light under the light intensity will not affect the operation of the vehicle-mounted laser radar, and the vehicle-mounted laser radar works normally in the current state; when the real-time light intensity is within the second standard threshold, the light intensity at this time will affect the normal operation of the vehicle-mounted laser radar. The present application corresponds to adjusting the working parameters of the vehicle-mounted laser radar to ensure that the vehicle-mounted laser radar is in the best working state while avoiding natural light from affecting the service life of the vehicle-mounted laser radar; when the real-time light intensity is greater than the second standard threshold, the compensation parameters cannot avoid the damage of natural light to the vehicle-mounted laser radar and the impact on the image information received by the user. Therefore, the present application corresponds to adjusting the angle of the laser radar to reduce the light intensity entering the vehicle-mounted laser radar window, and then compensates the laser radar working parameters according to the light intensity to ensure that the laser radar is in the best working state. The adjustment method in the present application does not require the installation of a sun visor or additional filters on the outside of the vehicle-mounted laser radar, thereby ensuring that the vehicle-mounted laser radar is in the best working state; secondly, the present application ensures that the vehicle-mounted laser radar is in the best working state through corresponding parameter compensation or angle adjustment based on the light intensity in the window, and can avoid damage to the vehicle-mounted laser radar by natural light. The vehicle-mounted laser radar illumination compensation method in the present application increases the service life of the vehicle-mounted laser radar, ensures that the vehicle-mounted laser radar is in the best working state, improves the user's driving experience, and reduces driving safety hazards.

[0035] (2) The vehicle-mounted laser radar illumination compensation method of the present invention divides the illumination intensity of the vehicle-mounted laser radar in the optimal working state into n gears, determines that the real-time illumination intensity is in the closest interval, and calls the compensation parameters of the corresponding interval to compensate for the current vehicle-mounted laser radar working parameters, so as to ensure that the vehicle-mounted laser radar is in the optimal working state and improve the working life of the vehicle-mounted laser radar.

[0036] (3) The vehicle-mounted laser radar illumination compensation method of the present invention can ensure the optimal working state of the vehicle-mounted laser radar and avoid the problem of adjusting the angle of the vehicle-mounted laser radar at any time by adopting a coordinated method of parameter compensation and angle adjustment. It can complete the adjustment of the vehicle-mounted laser radar in the most convenient way, put it in the optimal working state, and effectively extend the service life of the vehicle-mounted laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flow chart of the illumination compensation method of the vehicle-mounted laser radar in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that, in the description of the embodiments of the present invention, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "include one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0040] Example:

[0041] See also Figure 1 The vehicle-mounted laser radar illumination compensation method in the preferred embodiment of the present invention comprises the following steps:

[0042] S1. Obtain the real-time light intensity entering the vehicle-mounted laser radar window;

[0043] S2, comparing the real-time light intensity with a standard light intensity table, and the standard light intensity table corresponds to standard compensation data;

[0044] S3. Adjust the operating parameters of the vehicle-mounted laser radar according to the comparison between the real-time light intensity and the standard light intensity table;

[0045] When the real-time light intensity is within the first standard threshold of the standard light intensity table, there is no need to adjust the laser radar working parameters;

[0046] When the real-time light intensity is within the second standard threshold of the standard light intensity table, the laser radar working parameters are compensated according to the standard compensation data to obtain the laser radar working state after compensation;

[0047] When the real-time light intensity is greater than the second standard threshold of the standard light intensity table, the laser radar angle is adjusted so that the laser radar is at the standard performance angle. When the laser radar is at the standard performance angle, the real-time light intensity at the vehicle-mounted laser radar window falls within the standard light intensity table. The laser radar operating parameters are compensated according to the standard compensation data to obtain the compensated laser radar working state.

[0048] The vehicle-mounted laser radar illumination compensation method of the present invention divides the vehicle-mounted laser radar into multiple working states according to the light intensity received by the vehicle-mounted laser radar window. When the real-time light intensity is within the first standard threshold, the natural light under the light intensity will not affect the operation of the vehicle-mounted laser radar, and the vehicle-mounted laser radar works normally in the current state; when the real-time light intensity is within the second standard threshold, the light intensity at this time will affect the normal operation of the vehicle-mounted laser radar. The present application corresponds to adjusting the working parameters of the vehicle-mounted laser radar to ensure that the vehicle-mounted laser radar is in the best working state while avoiding natural light from affecting the service life of the vehicle-mounted laser radar; when the real-time light intensity is greater than the second standard threshold, the compensation parameters cannot avoid the damage of natural light to the vehicle-mounted laser radar and the impact on the image information received by the user. Therefore, the present application corresponds to adjusting the angle of the laser radar to reduce the light intensity entering the vehicle-mounted laser radar window, and then compensates the laser radar working parameters according to the light intensity to make the laser radar in the best working state. The adjustment method in the present application does not require the installation of a sun visor or additional filters on the outside of the vehicle-mounted laser radar, thereby ensuring that the vehicle-mounted laser radar is in the best working state; secondly, the present application ensures that the vehicle-mounted laser radar is in the best working state through corresponding parameter compensation or angle adjustment based on the light intensity in the window, and can avoid damage to the vehicle-mounted laser radar by natural light. The vehicle-mounted laser radar illumination compensation method in the present application increases the service life of the vehicle-mounted laser radar, ensures that the vehicle-mounted laser radar is in the best working state, improves the user's driving experience, and reduces driving safety hazards.

[0049] As one of the embodiments of the present invention, the laser radar working parameter compensation in this application includes: one or more of the laser radar working voltage adjustment, laser emission intensity adjustment, laser receiving sensitivity adjustment, and laser radar pitch angle adjustment. In the actual adjustment process, according to the illumination angle and light intensity between the current vehicle-mounted laser radar window and natural light, one or more of the corresponding working voltage, laser emission intensity, laser receiving sensitivity and laser radar pitch angle can be adjusted to adjust the vehicle-mounted laser radar to the optimal working state. The optimal working state of the vehicle-mounted laser radar in this application refers to the state where the vehicle-mounted laser radar is in the best image acquisition, optimal power consumption and optimal operating life.

[0050] As one embodiment of the present invention, the preparation of the standard light intensity table in the present application includes the following steps:

[0051] Collect the illumination intensity of natural ambient light in the working adaptation environment of the laser radar, obtain the maximum illumination intensity and minimum illumination intensity of the natural ambient light, divide the illumination intensity between the maximum illumination intensity and the minimum illumination intensity into n intervals, adjust the vehicle-mounted laser radar under n gears to the optimal state, and record the optimal working voltage, laser emission intensity, laser receiving sensitivity and pitch angle of the laser radar under each gear as the compensation data under the gear. The maximum illumination intensity and minimum illumination intensity here refer to the illumination intensity that the laser radar can adjust to the optimal working state through parameter compensation. When the real-time illumination intensity is greater than the maximum illumination intensity here, the optimal working requirements of the vehicle-mounted laser radar cannot be met only by parameter compensation adjustment. The angle of the vehicle-mounted laser radar needs to be adjusted accordingly to reduce the illumination intensity entering the vehicle-mounted laser radar window, so that the adjustment of the vehicle-mounted laser radar can be completed through parameter compensation.

[0052] Correspondingly, the first standard threshold in the present application falls within the second standard threshold, and the interval of the second standard threshold is composed of n intervals between the maximum light intensity and the minimum light intensity. The first standard threshold in the present application is located in the middle area of ​​the second standard threshold, which corresponds to the optimal working state of the vehicle-mounted laser radar. When the real-time light intensity falls within the first standard threshold, the working parameters of the vehicle-mounted laser radar do not need to be adjusted. When the real-time light intensity is outside the first standard threshold and falls within the second standard threshold, it is necessary to adjust the vehicle-mounted laser radar through compensation parameters to make it in the best working state.

[0053] As one embodiment of the present invention, when the real-time illumination intensity is within the second standard threshold, the corresponding illumination intensity interval is sought according to the real-time illumination intensity, and then the optimal operating voltage, laser emission intensity and laser receiving sensitivity are called according to the corresponding illumination intensity interval to adjust the vehicle-mounted laser radar to the optimal working state. It is worth noting that although strong natural light will affect the working state and service life of the vehicle-mounted laser radar, the weak light environment will also affect the image information received by the vehicle-mounted laser radar. Therefore, when the real-time illumination angle is low, parameter compensation can also be performed accordingly to adjust the vehicle-mounted laser radar to the optimal working state.

[0054] As one embodiment of the present invention, when the real-time illumination intensity is greater than the second standard threshold of the standard illumination intensity table, it means that the optimal working state of the vehicle-mounted laser radar cannot be obtained only through parameter compensation. At this time, it is necessary to adjust the pitch angle of the vehicle-mounted laser radar accordingly, so that the real-time illumination intensity falls on gear n or gear n-1, and then retrieve the compensation data of the corresponding gear (gear n or gear n-1) according to the gear of the vehicle-mounted laser radar to adjust the working state of the vehicle-mounted laser radar. By dividing the illumination intensity into multiple gears and setting the optimal working voltage, laser emission intensity and laser receiving sensitivity for each gear, the vehicle-mounted laser radar can be based on the principle of proximity, by calling the compensation parameters of the nearest gear, to achieve rapid adjustment of the working parameters of the vehicle-mounted laser radar, and ensure the efficient operation of the vehicle-mounted laser radar. Improve its service life. Since there is a certain error in the angle adjustment of the vehicle-mounted laser radar, in order to make the vehicle-mounted laser radar reach the optimal working state, the adjusted illumination intensity can be made to fall on gear n or gear n-1, and then the compensation parameters are selected to adjust the working parameters of the vehicle-mounted laser radar accordingly. Here, the gear position n represents the gear position of the maximum illumination intensity of the vehicle-mounted laser radar. Optionally, here n ≥ 2 and is a natural number.

[0055] As one embodiment of the present invention, when the natural light intensity exceeds the maximum light intensity that can be adjusted by the vehicle-mounted laser radar, the adjustment angle of the vehicle-mounted laser radar is obtained according to the difference between the real-time light intensity and the maximum light intensity. Specifically, the corresponding adjustment angle between the real-time light intensity and the maximum light intensity can refer to the angle determined by adjusting the vehicle-mounted laser radar during the actual test process; the adjustment angle can also be determined by establishing a functional relationship between the light intensity and the adjustment angle.

[0056] As one of the embodiments of the present invention, the present application also includes step S4: when the vehicle-mounted laser radar is in the working state of adjusting the pitch angle, the real-time light intensity in the vehicle-mounted laser radar window is obtained, and when the real-time light intensity is at the first standard threshold, the vehicle-mounted laser radar is adjusted to the initial angle position, the real-time light intensity in the vehicle-mounted laser radar window is obtained, and the laser radar working parameters are compensated according to the light intensity table to obtain the compensated laser radar working state. In order to ensure the subsequent stable operation and adjustment of the vehicle-mounted laser radar, when the real-time light intensity is weakened to the first standard threshold, the vehicle-mounted laser radar can be adjusted to the initial angle position, and the working parameters of the vehicle-mounted laser radar can be compensated and adjusted to the initial parameters accordingly. When the vehicle-mounted laser radar receives strong light again, the working parameters of the vehicle-mounted laser radar can be adjusted accordingly according to the light intensity.

[0057] As one embodiment of the present invention, the real-time light intensity collection of the vehicle-mounted laser radar window in this application includes:

[0058] During the use of the vehicle-mounted laser radar, the light intensity of the vehicle-mounted laser radar window is collected at a first time interval, and the light intensities collected at multiple first time intervals in a second time interval are averaged to obtain the real-time light intensity in the second time interval. In actual use, changing the working parameters of the vehicle-mounted laser radar at any time according to the light intensity will cause the working instability of the vehicle-mounted laser radar and will affect the working life of the vehicle-mounted laser radar. Accordingly, the present application corresponds to collecting the real-time light intensity at a first time interval, and correspondingly calculating the average light intensity at a second time interval, so as to know the parameter adjustment of the vehicle-mounted laser radar. Optionally, the first time interval here is 10s, and the second time interval here is 2min.

[0059] As one of the embodiments of the present invention, the real-time light intensity in this application is stored through a data cache module, the standard light intensity table and each gear compensation data are stored through a data storage module, and the real-time light intensity is also stored in the data storage module after comparison and adjustment. The comparison between the real-time light intensity and the standard light intensity table is performed through a data processing module.

[0060] As one embodiment of the present invention, the present application also includes a vehicle-mounted laser radar illumination compensation system, which is used to execute the above-mentioned vehicle-mounted laser radar illumination compensation method, specifically including: a laser transmitter and a laser receiver, the laser transmitter is used to emit a laser signal, and the laser receiver is used to receive a laser signal; a photoelectric illumination sensor arranged between the laser transmitter and the laser receiver, the photoelectric illumination sensor is used to receive the light intensity entering the window where the laser transmitter and the laser receiver are located; and, an adjustment mechanism arranged between the laser transmitter and the laser receiver, the adjustment mechanism is used to adjust the pitch angle of the laser transmitter and the laser receiver; a control mechanism, the control mechanism includes a data processing module, a data cache module and a data storage module; wherein the data cache module is used to store real-time light intensity, the data storage module is used to store a standard light intensity table and compensation data for each gear, and store the real-time light intensity after comparison and adjustment; the data processing module is used to retrieve the real-time light intensity data of the data cache module and the standard light intensity of the data storage module, and obtain the compensation parameters under the real-time light intensity to adjust the pitch angle of the laser transmitter and the laser receiver accordingly.

[0061] Here, the laser transmitter and the laser receiver are components of the vehicle-mounted laser radar, and the angle adjustment of the laser transmitter and the laser receiver is the angle adjustment of the vehicle-mounted laser radar. Here, the data processing module is preferably an FPGA (field programmable gate array).

[0062] As one embodiment of the present invention, the present application also includes a vehicle, which includes the above-mentioned vehicle-mounted laser radar illumination compensation system. The vehicle here can be a bicycle, an electric car, a car or other means of transportation.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for compensating illumination of a vehicle-mounted laser radar, characterized in that: The steps include: S1. Obtain the real-time light intensity entering the vehicle-mounted laser radar window; S2. Compare the real-time light intensity with a standard light intensity table, wherein the standard light intensity table corresponds to standard compensation data; S3. Adjust the operating parameters of the vehicle-mounted laser radar according to the comparison between the real-time light intensity and the standard light intensity table; When the real-time light intensity is within the first standard threshold of the standard light intensity table, there is no need to adjust the laser radar working parameters; When the real-time light intensity is within the second standard threshold of the standard light intensity table, the laser radar working parameters are compensated according to the standard compensation data to obtain the laser radar working state after compensation; When the real-time light intensity is greater than the second standard threshold of the standard light intensity table, the laser radar angle is adjusted so that the laser radar is at the standard performance angle. When the laser radar is at the standard performance angle, the real-time light intensity of the window of the vehicle-mounted laser radar falls within the standard light intensity table. The laser radar operating parameters are compensated according to the standard compensation data to obtain the compensated laser radar working state.

2. The illumination compensation method for a vehicle-mounted laser radar according to claim 1, characterized in that: The laser radar working parameter compensation includes: one or more of the laser radar working voltage adjustment, laser emission intensity adjustment, laser receiving sensitivity adjustment, and laser radar pitch angle adjustment.

3. The illumination compensation method for a vehicle-mounted laser radar according to claim 1, characterized in that: The preparation of the standard light intensity table includes: Collect the light intensity of natural ambient light in the working adaptation environment of the laser radar, obtain the maximum light intensity and the minimum light intensity of the natural ambient light, divide the light intensity between the maximum light intensity and the minimum light intensity into n intervals, adjust the vehicle-mounted laser radar under n gears to the optimal state, and record the optimal working voltage, laser emission intensity, laser receiving sensitivity and pitch angle of the laser radar under each gear as the compensation data under the gear.

4. The illumination compensation method for a vehicle-mounted laser radar according to claim 3, characterized in that: The real-time light intensity collection of the vehicle-mounted laser radar window includes: During the use of the vehicle-mounted laser radar, the light intensity of the vehicle-mounted laser radar window is collected at a first time interval, and the light intensities collected at multiple first time intervals in a second time interval are averaged to obtain the real-time light intensity in the second time interval.

5. The illumination compensation method for a vehicle-mounted laser radar according to claim 4, characterized in that: The real-time light intensity is stored through a data cache module, the standard light intensity table and compensation data for each gear are stored through a data storage module, and the real-time light intensity is stored in the data storage module after comparison and adjustment, and the comparison between the real-time light intensity and the standard light intensity table is performed through a data processing module.

6. The illumination compensation method for a vehicle-mounted laser radar according to claim 3, characterized in that: The first standard threshold falls within the second standard threshold, and the interval of the second standard threshold is composed of n intervals between the maximum light intensity and the minimum light intensity.

7. The illumination compensation method for a vehicle-mounted laser radar according to claim 6, characterized in that: When the real-time light intensity is within the second standard threshold of the standard light intensity table, the optimal operating voltage, laser emission intensity and laser receiving sensitivity of the corresponding interval are called according to the interval in which the real-time light intensity is located, and the operating voltage, laser emission intensity and laser receiving sensitivity of the vehicle-mounted laser radar are adjusted accordingly.

8. The illumination compensation method for a vehicle-mounted laser radar according to claim 6, characterized in that: When the real-time light intensity is greater than the second standard threshold of the standard light intensity table, adjust the pitch angle of the vehicle-mounted laser radar so that the real-time light intensity falls at gear n or gear n-1. According to the gear of the vehicle-mounted laser radar, retrieve the compensation data of the corresponding gear and adjust the working state of the vehicle-mounted laser radar.

9. The illumination compensation method for a vehicle-mounted laser radar according to claim 1, characterized in that: The step S4 is also included: When the vehicle-mounted laser radar is in the working state of adjusting the pitch angle, the real-time light intensity in the vehicle-mounted laser radar window is obtained. When the real-time light intensity is at the first standard threshold, the vehicle-mounted laser radar is adjusted to the initial angle position, the real-time light intensity in the vehicle-mounted laser radar window is obtained, and the laser radar working parameters are compensated according to the light intensity table to obtain the compensated laser radar working state.

10. A vehicle-mounted laser radar illumination compensation system, used for executing the vehicle-mounted laser radar illumination compensation method described in any one of claims 1 to 9, characterized in that: include: A laser transmitter and a laser receiver, wherein the laser transmitter is used to emit a laser signal and the laser receiver is used to receive the laser signal; A photoelectric illumination sensor disposed between the laser emitter and the laser receiver, the photoelectric illumination sensor being used to receive the light intensity entering the window where the laser emitter and the laser receiver are located; An adjustment mechanism provided between the laser transmitter and the laser receiver, the adjustment mechanism being used to adjust the elevation angle of the laser transmitter and the laser receiver; A control mechanism, the control mechanism comprising a data processing module, a data cache module and a data storage module; The data cache module is used to store real-time light intensity; The data storage module is used to store the standard light intensity table and compensation data for each gear, as well as to store the real-time light intensity after comparison and adjustment; The data processing module is used to retrieve the real-time light intensity data of the data cache module and the standard light intensity table of the data storage module, and obtain compensation parameters under real-time light intensity to correspondingly adjust the pitch angles of the laser transmitter and the laser receiver.

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