Laser radar angle adjustment method, device, electronic device and storage medium

Abstract

The present application provides a method, device, electronic device and storage medium for adjusting the turning angle of a laser radar. The method includes obtaining direction reference information of a vehicle, classifying the direction reference information according to the vehicle's driving state and driving environment to obtain multiple reference categories, and determining the control priority of each reference category. Based on the vehicle's current driving state and / or current driving environment, the current category of the vehicle's current direction reference information is identified, and the current direction reference information is threshold-compared according to a preset control threshold classification of the current category to screen out candidate reference information that meets preset conditions from the current direction reference information, determine a class of candidate reference information as target reference information, and adjust the angle of the vehicle's laser radar based on a preset mapping relationship, target reference information and the current rotation angle of the vehicle's laser radar. The present application can effectively improve the detection range and detection effect of the vehicle's laser radar, thereby improving the safety of vehicle driving.

Description

Technical Field

[0001] The present application relates to the technical field of radar detection range adjustment, and in particular to a method, device, electronic device and storage medium for adjusting the angle of a laser radar. Background Art

[0002] With the development of autonomous driving technology, on-board radar equipment plays a vital role in vehicle safety. LiDAR, in particular, is widely used in autonomous vehicles due to its high precision, high resolution, and strong anti-interference capabilities. However, on-board LiDAR is often fixed in one location to detect objects in a fixed direction. During dynamic driving, it does not adapt to driving needs and provide the system with more road information in the intended direction of travel.

[0003] Especially for models that use map-free intelligent driving strategies without high-precision maps, when covering urban areas or even more complex road scenes, the fixed field of view (FOV) of the lidar is insufficient to perceive the vehicle when it needs to turn with a large curvature. Summary of the Invention

[0004] The present application provides a method, device, electronic device and storage medium for adjusting the angle of a laser radar to solve the technical problem of insufficient perception range caused by the fixed field of view angle of the above-mentioned laser radar.

[0005] In one embodiment of the present application, the present application provides a method for adjusting the turning angle of a laser radar, comprising: obtaining direction reference information of a vehicle, the direction reference information being used to represent information for controlling the future driving direction of the vehicle; classifying the direction reference information according to the driving state and driving environment of the vehicle to obtain multiple reference categories of the direction reference information, and determining a control priority of each reference category; identifying a current category of the vehicle's current direction reference information based on the current driving state and / or current driving environment of the vehicle, and performing a threshold comparison on the current direction reference information according to a preset control threshold classification of the current category to filter out candidate reference information that meets a preset condition from the current direction reference information; determining a category of candidate reference information as target reference information based on the number of categories of the candidate reference information and the control priority corresponding to the candidate reference information; and adjusting the angle of the vehicle laser radar according to a preset mapping relationship, the target reference information, and the current rotation angle of the vehicle laser radar, the preset mapping relationship being used to represent a conversion relationship between a pre-calibrated threshold difference and the vehicle laser radar turning angle, the threshold difference being the difference between the direction reference information of a reference category and the preset control threshold of the corresponding reference category.

[0006] In one embodiment of the present application, the direction reference information is classified according to the driving state and driving environment of the vehicle to obtain multiple reference categories of the direction reference information, and the control priority of each reference category is determined, including: classifying the direction reference information according to the driving state and driving environment of the vehicle to obtain multiple reference categories of the direction reference information, each reference category including a category corresponding to a turn signal signal, a steering wheel angle, a curvature of the road ahead, and a following vehicle heading angle difference, the following vehicle heading angle difference being used to characterize the difference between the heading angle of the vehicle and the target heading angle followed by the vehicle; setting control priorities corresponding to different reference categories, wherein the control priorities of the categories corresponding to the turn signal signal, the steering wheel angle, the curvature of the road ahead, and the following vehicle heading angle difference are reduced in sequence.

[0007] In one embodiment of the present application, a threshold comparison is performed on the current direction reference information according to the preset control threshold classification of the current category to filter out candidate reference information that meets the preset conditions from the current direction reference information, including: if the level value of the current turn signal signal is equal to the preset lighting threshold, the current turn signal is determined as the candidate reference information; if the current steering wheel angle is greater than or equal to the preset angle threshold, the current steering wheel angle is determined as the candidate reference information; if the curvature of the front road is greater than or equal to the preset curvature threshold, or the radius of the front road is less than or equal to the preset radius threshold, the curvature of the front road or the radius of the front road is determined as the candidate reference information, wherein the current curvature of the front road is characterized by the curvature of the front road or the radius of the front road; if the current following vehicle heading angle difference is greater than the preset angle threshold, the current following vehicle heading angle difference is determined as the candidate reference information. In one embodiment of the present application, a category of candidate reference information is determined as target reference information based on the number of categories of the candidate reference information and the control priority corresponding to the candidate reference information, including: if the number of categories of the candidate reference information is one, then the candidate reference information is determined as the target reference information; if the number of categories of the candidate reference information is greater than one, then the category of candidate reference information corresponding to the highest priority is determined as the target reference information.

[0008] In one embodiment of the present application, according to the current driving state and / or the current driving environment, before identifying the current category of the current direction reference information of the vehicle based on the current driving state and / or the current driving environment of the vehicle, the method also includes: detecting the calibration status of a preset mapping relationship; if the calibration status is calibrated, adjusting the angle of the vehicle lidar; if the calibration status is uncalibrated, exiting the angle adjustment of the vehicle lidar.

[0009] In one embodiment of the present application, after adjusting the angle of the vehicle lidar, the method further includes: obtaining radar point cloud data collected by the vehicle lidar; converting the polar coordinates of each target detection point in the radar point cloud data into Cartesian coordinates in the radar coordinate system; and converting the Cartesian coordinates of each target detection point into coordinates in the vehicle coordinate system based on the current rotation angle corresponding to the radar point cloud data.

[0010] In one embodiment of the present application, the present application provides a turning angle adjustment device for a laser radar, comprising: an acquisition module for acquiring direction reference information of a vehicle, wherein the direction reference information is used to represent information for controlling the future driving direction of the vehicle; a classification module for classifying the direction reference information according to the driving state and driving environment of the vehicle, obtaining multiple reference categories of the direction reference information, and determining the control priority of each reference category; a threshold screening module for identifying the current category of the current direction reference information of the vehicle based on the current driving state and / or current driving environment of the vehicle, and classifying the current direction reference information according to a preset control threshold value of the current category. The information is compared with a threshold value to filter out candidate reference information that meets the preset conditions from the current direction reference information; a target information determination module is used to determine a category of candidate reference information as target reference information according to the number of categories of the candidate reference information and the control priority corresponding to the candidate reference information; an angle adjustment module is used to adjust the angle of the vehicle lidar based on a preset mapping relationship, the target reference information and the current rotation angle of the vehicle lidar, the preset mapping relationship is used to characterize the conversion relationship between a pre-calibrated threshold difference and the vehicle lidar angle, and the threshold difference is the difference between the direction reference information of a reference category and the preset control threshold of the corresponding reference category.

[0011] In one embodiment of the present application, the device also includes a rotating mechanism, a driving motor, a reduction gearbox, a gear component, and an angle sensor; the rotating mechanism is installed on the radar bracket of the vehicle laser radar, and the driving motor and the rotating mechanism are connected through the reduction gearbox and the gear component to adjust the angle of the vehicle laser radar; the working power of the driving motor is controlled by a pulse width modulation wave with different duty cycles, and the pulse width modulation with different duty cycles is obtained based on the current rotation angle and the preset mapping relationship; the angle sensor is used to collect the current rotation angle of the vehicle laser radar.

[0012] In one embodiment of the present application, the present application provides an electronic device, which includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the laser radar angle adjustment method as described in any of the above embodiments.

[0013] In one embodiment of the present application, the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a computer processor, the computer executes the laser radar angle adjustment method described in any one of the above embodiments.

[0014] Beneficial effects of the embodiments of the present application: The present application provides a method, device, electronic device and storage medium for adjusting the turning angle of a laser radar. The embodiments of the present application classify the direction reference information according to the driving state and driving environment of the vehicle to obtain multiple reference categories of the direction reference information, and determine the control priority corresponding to different reference categories. The current direction reference information is compared with the corresponding preset control threshold to screen out candidate reference information that meets the preset conditions, and then the target reference information is determined in the candidate reference information based on the control priority. The angle of the vehicle laser radar is adjusted according to the target reference information and the preset mapping relationship, which can effectively improve the detection range of the vehicle laser radar, greatly improve the detection effect of the vehicle laser radar, and improve the safety of vehicle driving.

[0015] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0017] Figure 1 A schematic diagram showing an exemplary system architecture to which the technical solutions of the embodiments of the present application can be applied;

[0018] Figure 2 A schematic diagram of a process for adjusting the angle of a laser radar according to an embodiment of the present application is shown;

[0019] Figure 3 A block diagram of a laser radar angle adjustment device according to an embodiment of the present application is shown;

[0020] Figure 4A schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0021] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0022] The illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present application. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0023] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0024] See also Figure 1 , Figure 1 Schematic diagram showing an exemplary system architecture to which the technical solution of the embodiment of the present application can be applied. Figure 1 As shown, the system architecture may include a computer device 101 and a vehicle laser radar 102. The computer device 101 may be at least one of a microcomputer, an embedded computer, and the like.

[0025] Exemplarily, the computer device 101 obtains the vehicle's direction reference information, which is used to represent information for controlling the vehicle's future driving direction; classifies the direction reference information according to the vehicle's driving state and driving environment to obtain multiple reference categories of the direction reference information, and determines the control priority of each reference category; identifies the current category of the vehicle's current direction reference information based on the vehicle's current driving state and / or current driving environment, and performs threshold comparison on the current direction reference information according to a preset control threshold classification of the current category to filter out candidate reference information that meets preset conditions from the current direction reference information; determines a category of candidate reference information as target reference information based on the number of categories of the candidate reference information and the control priority corresponding to the candidate reference information; adjusts the angle of the vehicle's lidar based on a preset mapping relationship, the target reference information, and the current rotation angle of the vehicle's lidar, the preset mapping relationship being used to represent the conversion relationship between a pre-calibrated threshold difference and the vehicle's lidar rotation angle, the threshold difference being the difference between the direction reference information of a reference category and the preset control threshold of the corresponding reference category.

[0026] In related technologies, lidar has the problem of insufficient perception range due to its fixed field of view.

[0027] In order to solve the above technical problems, the present application provides a method, device, electronic device and storage medium for adjusting the angle of a laser radar. The implementation details of the technical solution of the embodiment of the present application are elaborated in detail below.

[0028] See also Figure 2 , Figure 2 FIG1 shows a flow chart of a method for adjusting the angle of a laser radar according to an embodiment of the present application. Figure 2 As shown, in an exemplary embodiment, the laser radar angle adjustment method includes at least steps S210 to S250, which are described in detail as follows:

[0029] Step S210: Acquire vehicle direction reference information.

[0030] The direction reference information is used to represent information for controlling the future driving direction of the vehicle.

[0031] Step S220 , classifying the direction reference information according to the driving state and driving environment of the vehicle to obtain multiple reference categories of the direction reference information, and determining the control priority of each reference category.

[0032] In one embodiment of the present application, direction reference information is classified according to the driving state and driving environment of the vehicle to obtain multiple reference categories of direction reference information, and the control priority of each reference category is determined, including: classifying the direction reference information according to the driving state and driving environment of the vehicle to obtain multiple reference categories of direction reference information, each reference category including a category corresponding to a turn signal signal, a steering wheel angle, a curvature of the road ahead, and a following vehicle heading angle difference, the following vehicle heading angle difference being used to characterize the difference between the heading angle of the vehicle and the target heading angle followed by the vehicle; setting control priorities corresponding to different reference categories, wherein the control priorities of the categories corresponding to the turn signal signal, the steering wheel angle, the curvature of the road ahead, and the following vehicle heading angle difference decrease in sequence.

[0033] In one embodiment of the present application, the driving status includes a turn signal and a steering wheel angle; and the driving environment includes the curvature of the road ahead and the heading angle difference between the vehicle and the vehicle.

[0034] Step S230, based on the current driving state and / or current driving environment of the vehicle, identifies the current category of the vehicle's current direction reference information, and performs threshold comparison on the current direction reference information according to the preset control threshold classification of the current category to filter out candidate reference information that meets the preset conditions from the current direction reference information.

[0035] In one embodiment of the present application, before identifying the current category of the vehicle's current direction reference information based on the vehicle's current driving state and / or current driving environment, the method also includes: detecting the calibration status of a preset mapping relationship; if the calibration status is calibrated, adjusting the angle of the vehicle's lidar; if the calibration status is uncalibrated, exiting the angle adjustment of the vehicle's lidar.

[0036] In one embodiment of the present application, the calibration status may be indicated by a preset configuration word or a preset calibration value to indicate whether the device has been calibrated or not.

[0037] In one embodiment of the present application, a threshold comparison is performed on the current direction reference information according to the preset control threshold classification of the current category to filter out candidate reference information that meets the preset conditions from the current direction reference information, including: if the level value of the current turn signal signal is equal to the preset lighting threshold, the current turn signal is determined as the candidate reference information; if the current steering wheel angle is greater than or equal to the preset angle threshold, the current steering wheel angle is determined as the candidate reference information; if the curvature of the front road is greater than or equal to the preset curvature threshold, or the radius of the front road is less than or equal to the preset radius threshold, the curvature of the front road or the radius of the front road is determined as the candidate reference information, wherein the current curvature of the front road is characterized by the curvature of the front road or the radius of the front road; if the current following vehicle heading angle difference is greater than the preset angle threshold, the current following vehicle heading angle difference is determined as the candidate reference information.

[0038] In one embodiment of the present application, the curvature of the road ahead can be obtained by identifying the curvature and radius of the lane line of the road ahead, but due to obstruction by obstacles in front such as vehicles and pedestrians, there is a state where the lane line of the road ahead cannot be identified.

[0039] In one embodiment of the present application, not all reference category information exists in the current direction reference information, that is, the category number of the current category is greater than or equal to 1.

[0040] In one embodiment of the present application, the preset radius threshold may be set to 100 m and the preset angle threshold may be set to 60°. This is only an example and does not impose any limitation on the actual setting of the preset control thresholds of the present application.

[0041] In one embodiment of the present application, the steering wheel angle and turn signal signal can be obtained by the driver's input control, or can be obtained by the intelligent driving system based on the road ahead information, for example, automatic steering to avoid obstacles.

[0042] Step S240 : determining one category of candidate reference information as target reference information according to the number of categories of the candidate reference information and the control priorities corresponding to the candidate reference information.

[0043] In one embodiment of the present application, a category of candidate reference information is determined as target reference information based on the number of categories of the candidate reference information and the control priority corresponding to the candidate reference information, including: if the number of categories of the candidate reference information is one, the candidate reference information is determined as the target reference information; if the number of categories of the candidate reference information is greater than one, the category of candidate reference information corresponding to the highest priority is determined as the target reference information.

[0044] Step S250: Adjust the angle of the vehicle laser radar based on the preset mapping relationship, the target reference information and the current rotation angle of the vehicle laser radar.

[0045] Among them, the preset mapping relationship is used to characterize the conversion relationship between the pre-calibrated threshold difference and the vehicle lidar turning angle, and the threshold difference is the difference between the direction reference information of a reference category and the preset control threshold of the corresponding reference category.

[0046] In one embodiment of the present application, actual road data is used to calibrate the conversion relationship between the threshold difference and the vehicle lidar turning angle to obtain the optimal detection direction of the vehicle lidar.

[0047] In one embodiment of the present application, the angle of the vehicle lidar is adjusted based on a preset mapping relationship, target reference information and the current rotation angle of the vehicle lidar, including: matching the target adjustment horizontal angle in the preset mapping relationship according to the difference between the target reference information and the corresponding preset control threshold, and adjusting the actual horizontal angle of the vehicle lidar to the target adjustment horizontal angle based on the current horizontal angle of the vehicle lidar.

[0048] In one embodiment of the present application, the preset mapping relationship includes mapping relationships corresponding to direction reference information of different reference categories.

[0049] In one embodiment of the present application, when both the steering wheel angle is too large and the curvature of the road ahead is too large, the horizontal angle to be adjusted corresponding to the steering wheel angle is selected as the target adjusted horizontal angle.

[0050] In one embodiment of the present application, when both the curvature of the road ahead and the following vehicle heading angle difference are too large, the horizontal turning angle to be adjusted corresponding to the curvature of the road ahead is selected as the target adjusted horizontal turning angle.

[0051] In one embodiment of the present application, there is only a horizontal angle to be adjusted corresponding to the steering wheel angle being too large, and the angle of the vehicle's lidar can be adjusted directly by the horizontal angle to be adjusted and the current horizontal angle.

[0052] In one embodiment of the present application, the present application adds a rotating mechanism to the original radar bracket of the vehicle laser radar, and the driving motor and the rotating mechanism are connected through a reduction gearbox and a gear component to adjust the angle of the vehicle laser radar.

[0053] In one embodiment of the present application, the rotation mechanism can be used for horizontal rotation and / or vertical rotation.

[0054] In one embodiment of the present application, the installed radar bracket includes a fixed part, a horizontal rotating part, and a vertical rotating part. The parts are connected using preset standard interfaces to facilitate assembly and maintenance. The fixed part is used to install the vehicle lidar on the vehicle.

[0055] In one embodiment of the present application, in order to save space as much as possible while ensuring functionality, the drive motor adopts a micro brushless DC motor with a motor power of approximately 0.1-1W, a speed of 1440r / min, and a torque of 20N·m.

[0056] In one embodiment of the present application, an angle sensor is installed to continuously collect the current rotation angle of the vehicle's laser radar. The angle sensor can be installed on the transmission shaft between the installed radar bracket and the drive motor.

[0057] In one embodiment of the present application, the angle sensor has a measurement range of ±60°, a measurement accuracy of 0.1°, and a refresh rate of 100Hz. The angle sensor transmits the current rotation angle acquired to an Advanced Driver Assistance Systems (ADAS) controller via a serial peripheral interface (SPI) bus.

[0058] In one embodiment of the present application, the difference between the horizontal angle and the current horizontal angle is adjusted based on different targets, and pulse width modulation (PWM) waves with different duty cycles are output to control the working power of the drive motor, thereby controlling the steering of the installed radar bracket.

[0059] In one embodiment of the present application, PWM waves with different duty cycles are obtained based on PID (proportional-integral-differential) control of the difference between the target adjusted horizontal angle and the continuously acquired current horizontal angle, so as to achieve the effect of precise and flexible radar steering.

[0060] In one embodiment of the present application, the actual horizontal turning angle of the vehicle's lidar is adjusted by the ADAS controller to provide the vehicle with road scene information in the pre-driving direction.

[0061] In one embodiment of the present application, after adjusting the angle of the vehicle laser radar, the method also includes: obtaining radar point cloud data collected by the vehicle laser radar; converting the polar coordinates of each target detection point in the radar point cloud data into Cartesian coordinates in the radar coordinate system; and converting the Cartesian coordinates of each target detection point into coordinates in the vehicle coordinate system based on the current rotation angle corresponding to the radar point cloud data.

[0062] In one embodiment of the present application, the ADAS controller obtains the current horizontal turning angle of the vehicle's lidar from the angle sensor in real time, and then calculates the position of the target detection point relative to the vehicle's lidar in combination with the position of the target detection point detected in the radar point cloud data relative to the vehicle's lidar, thereby calculating the position of the target detection point relative to the vehicle's coordinate system.

[0063] In one embodiment of the present application, the lidar angle adjustment solution provided in this embodiment can be widely used in application fields such as intelligent driving vehicles, unmanned driving equipment, and advanced driver assistance systems. By adjusting the angle of the vehicle lidar, the present application can effectively increase the radar's detection range, especially when the vehicle turns or needs to change direction, which can greatly improve the radar's detection effect, thereby improving the safety of autonomous driving.

[0064] See also Figure 3 , Figure 3 A block diagram of a laser radar angle adjustment device according to an embodiment of the present application is shown. The device can be applied to Figure 1 The implementation environment shown in FIG. 1 is specifically configured in the computer device 101. The apparatus may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the apparatus is applicable.

[0065] like Figure 3 As shown, a laser radar angle adjustment device 300 according to an embodiment of the present application includes: an acquisition module 301, a classification module 302, a threshold screening module 303, a target information determination module 304 and an angle adjustment module 305.

[0066] An acquisition module 301 is used to acquire direction reference information of the vehicle, where the direction reference information is used to represent information for controlling the future driving direction of the vehicle;

[0067] a classification module 302 for classifying the direction reference information according to the driving state and driving environment of the vehicle, obtaining multiple reference categories of the direction reference information, and determining a control priority of each reference category;

[0068] a threshold screening module 303 for identifying a current category of the vehicle's current direction reference information based on the vehicle's current driving state and / or current driving environment, and performing a threshold comparison on the current direction reference information according to a preset control threshold classification of the current category, so as to screen candidate reference information that meets preset conditions from the current direction reference information;

[0069] a target information determination module 304 for determining a category of candidate reference information as target reference information based on the number of categories of candidate reference information and the control priorities corresponding to the candidate reference information;

[0070] The turning angle adjustment module 305 is used to adjust the angle of the vehicle lidar based on a preset mapping relationship, target reference information and the current rotation angle of the vehicle lidar. The preset mapping relationship is used to characterize the conversion relationship between a pre-calibrated threshold difference and the turning angle of the vehicle lidar. The threshold difference is the difference between the direction reference information of a reference category and the preset control threshold of the corresponding reference category.

[0071] The laser radar angle adjustment device provided in the above embodiment and the laser radar angle adjustment method provided in the above embodiment are based on the same concept. The specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In actual application, the laser radar angle adjustment device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0072] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, which, when executed by one or more processors, enables the electronic device to implement the laser radar angle adjustment method provided in the above-mentioned embodiments.

[0073] See also Figure 4 , Figure 4 A schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown. Figure 4 The computer system 400 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0074] like Figure 4 As shown, the computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 into the random access memory (RAM) 403, such as executing the method in the above embodiment. Various programs and data required for system operation are also stored in the random access memory 403. The CPU 401, the read-only memory 402 and the random access memory 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0075] The following components are connected to the input / output interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 408 including a hard disk and the like; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the input / output interface 405 as needed. Removable media 411, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 410 as needed, so that computer programs read therefrom can be installed into the storage section 408 as needed.

[0076] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 409, and / or installed from a removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the various functions defined in the system of the present application are executed.

[0077] The computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0078] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0079] The units involved in the embodiments described in the present application can be implemented by software or by hardware, and the units described can also be set in a processor. The names of these units do not constitute a limitation on the units themselves under certain circumstances. Therefore, the technical solution according to the embodiment of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present application.

[0080] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When executed by a computer processor, the computer executes the laser radar angle adjustment method provided in each of the above embodiments. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0081] In the above embodiments, unless otherwise specified, the use of serial numbers such as "first" and "second" to describe common objects only indicates that they refer to different instances of the same object, rather than indicating that the objects being described must adopt a given order, whether in time, space, sorting or any other way.

[0082] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, any equivalent modifications or alterations accomplished by a person of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. A method for adjusting the angle of a laser radar, characterized in that: The method comprises: Acquiring direction reference information of the vehicle, wherein the direction reference information is used to represent information for controlling the future driving direction of the vehicle; Classifying the direction reference information according to the driving state and driving environment of the vehicle to obtain multiple reference categories of the direction reference information, and determining a control priority of each reference category; Identifying a current category of the vehicle's current direction reference information based on a current driving state and / or a current driving environment of the vehicle, and performing a threshold comparison on the current direction reference information according to a preset control threshold classification of the current category to screen out candidate reference information that meets a preset condition from the current direction reference information; determining one category of candidate reference information as target reference information according to the number of categories of the candidate reference information and the control priorities corresponding to the candidate reference information; Based on a preset mapping relationship, the target reference information and the current rotation angle of the vehicle lidar, the angle of the vehicle lidar is adjusted. The preset mapping relationship is used to characterize the conversion relationship between a pre-calibrated threshold difference and the vehicle lidar rotation angle. The threshold difference is the difference between the direction reference information of a reference category and the preset control threshold of the corresponding reference category.

2. The laser radar angle adjustment method according to claim 1, characterized in that: Classifying the direction reference information according to the driving state and driving environment of the vehicle to obtain multiple reference categories of the direction reference information and determining the control priority of each reference category includes: Classifying the direction reference information according to the vehicle's driving state and driving environment to obtain multiple reference categories of the direction reference information, each of the reference categories including categories corresponding to a turn signal signal, a steering wheel angle, a curvature of the road ahead, and a following vehicle heading angle difference, the following vehicle heading angle difference being used to represent the difference between the vehicle's heading angle and the target heading angle that the vehicle is following; The control priorities corresponding to different reference categories are set, wherein the control priorities corresponding to the categories of the turn signal, the steering wheel angle, the curvature of the road ahead, and the following vehicle heading angle difference are sequentially decreased.

3. The laser radar angle adjustment method according to claim 2, characterized in that: Performing threshold comparison on the current direction reference information according to the preset control threshold classification of the current category to filter out candidate reference information that meets preset conditions from the current direction reference information includes: If the level value of the current turn signal is equal to the preset lighting threshold, the current turn signal is determined as candidate reference information; If the current steering wheel angle is greater than or equal to the preset angle threshold, determining the current steering wheel angle as candidate reference information; If the curvature of the road ahead is greater than or equal to a preset curvature threshold, or the radius of the road ahead is less than or equal to a preset radius threshold, determining the curvature of the road ahead or the radius of the road ahead as candidate reference information, wherein the current curvature of the road ahead is represented by the curvature of the road ahead or the radius of the road ahead; If the current following vehicle heading angle difference is greater than a preset angle threshold, the current following vehicle heading angle difference is determined as candidate reference information.

4. The laser radar angle adjustment method according to claim 2, characterized in that: Determining one category of candidate reference information as target reference information according to the number of categories of the candidate reference information and the control priorities corresponding to the candidate reference information includes: If the number of categories of the candidate reference information is one, determining the candidate reference information as target reference information; If the number of categories of the candidate reference information is greater than one, the category of candidate reference information corresponding to the highest priority is determined as the target reference information.

5. The laser radar angle adjustment method according to any one of claims 1 to 4, characterized in that: Before identifying a current category of the current direction reference information of the vehicle based on the current driving state and / or current driving environment of the vehicle, the method further includes: Detecting the calibration status of the preset mapping relationship; If the calibration state is calibrated, adjusting the angle of the vehicle laser radar; If the calibration status is uncalibrated, the vehicle laser radar angle adjustment is exited.

6. The laser radar angle adjustment method according to any one of claims 1 to 4, characterized in that: After adjusting the angle of the vehicle's laser radar, the method further includes: Obtaining radar point cloud data collected by the vehicle's lidar; Converting the polar coordinates of each target detection point in the radar point cloud data into Cartesian coordinates in a radar coordinate system; Based on the current rotation angle corresponding to the radar point cloud data, the Cartesian coordinates of each target detection point are converted into coordinates in the vehicle coordinate system.

7. A laser radar angle adjustment device, characterized in that: The device comprises: An acquisition module, configured to acquire direction reference information of the vehicle, wherein the direction reference information is used to represent information for controlling the future driving direction of the vehicle; a classification module, configured to classify the direction reference information according to the driving state and driving environment of the vehicle, obtain multiple reference categories of the direction reference information, and determine a control priority of each reference category; a threshold screening module, configured to identify a current category of the vehicle's current direction reference information based on the vehicle's current driving state and / or current driving environment, and perform a threshold comparison on the current direction reference information according to a preset control threshold classification of the current category, so as to screen candidate reference information that meets preset conditions from the current direction reference information; a target information determining module, configured to determine a category of candidate reference information as target reference information according to the number of categories of the candidate reference information and the control priorities corresponding to the candidate reference information; The angle adjustment module is used to adjust the angle of the vehicle lidar based on a preset mapping relationship, the target reference information and the current rotation angle of the vehicle lidar. The preset mapping relationship is used to characterize the conversion relationship between a pre-calibrated threshold difference and the vehicle lidar angle. The threshold difference is the difference between the direction reference information of a reference category and the preset control threshold of the corresponding reference category.

8. The laser radar angle adjustment device according to claim 7, characterized in that: The device also includes a rotating mechanism, a driving motor, a reduction gear box, a gear component, and an angle sensor; The rotating mechanism is mounted on the radar bracket of the vehicle laser radar, and the driving motor and the rotating mechanism are connected via the reduction gear box and the gear component to adjust the angle of the vehicle laser radar; The working power of the drive motor is controlled by pulse width modulation waves with different duty cycles, and the pulse width modulation waves with different duty cycles are obtained based on the current rotation angle and the preset mapping relationship; The angle sensor is used to collect the current rotation angle of the vehicle laser radar.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the angle adjustment method of the laser radar as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the angle adjustment method of the laser radar according to any one of claims 1 to 6.

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