Detection control method and device, related equipment and vehicle

Abstract

The invention relates to a detection control method and device, related equipment and a vehicle. The method comprises the steps of obtaining advancing direction information of a target vehicle; according to the advancing direction information, determining a target field angle range of a detection device of the target vehicle for detecting a region of interest; and controlling the detection equipment to carry out detection according to the target field angle range. Therefore, the detection equipment of the vehicle is dynamically adjusted in combination with the advancing direction information of the vehicle to detect the field angle range of the region of interest under various driving conditions, so that the detection equipment of the vehicle is ensured to have better adaptability under various driving conditions, the driving safety of the vehicle is ensured, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a detection control method, device, related equipment and vehicle. Background Art

[0002] During the driving process of the vehicle, it is necessary to detect the vehicle's environment through detection equipment to ensure safe driving.

[0003] At present, when a vehicle is driving, it is generally necessary to detect the environment in front of the vehicle and obtain detection information to ensure safe driving. However, during the driving process, the vehicle may face more complex driving situations, and the detection solutions in related technologies cannot adapt well to such complex driving situations and ensure driving safety. Summary of the invention

[0004] The embodiments of the present application provide a detection control method, device, electronic device, storage medium, computer program product and vehicle. By combining the vehicle's direction of travel information, the vehicle's detection equipment is dynamically adjusted to detect the field of view angle range of the area of ​​interest under various driving conditions, thereby ensuring that the vehicle's detection equipment has good adaptability under various driving conditions, thereby ensuring the vehicle's driving safety and improving the user experience.

[0005] The present application provides a detection control method, including:

[0006] Obtain the moving direction information of the target vehicle;

[0007] Determine, based on the traveling direction information, a target field of view angle range of a detection device of the target vehicle for detecting an area of ​​interest, wherein the area of ​​interest includes an environment area corresponding to the traveling direction;

[0008] The detection device is controlled to perform detection according to the target field of view angle range.

[0009] Accordingly, an embodiment of the present application provides a detection control device, including:

[0010] A traveling direction information acquisition unit, used to acquire the traveling direction information of the target vehicle;

[0011] A target field of view angle range determination unit, used to determine, according to the traveling direction information, a target field of view angle range of a detection device of the target vehicle for detecting an area of ​​interest, wherein the area of ​​interest includes an environment area corresponding to the traveling direction;

[0012] The detection unit is used to control the detection device to perform detection according to the target field of view angle range.

[0013] In addition, an embodiment of the present application also provides an electronic device, including one or more processors and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the detection control method provided in the embodiment of the present application.

[0014] In addition, an embodiment of the present application also provides a storage medium, which stores a computer program. When the computer program runs on an electronic device, the computer program is used to enable the electronic device to execute any detection control method provided in the embodiment of the present application.

[0015] In addition, an embodiment of the present application also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements any detection control method provided in the embodiment of the present application.

[0016] In addition, an embodiment of the present application also provides a vehicle, including the above-mentioned detection control device, or the above-mentioned electronic device, or the above-mentioned storage medium, or the above-mentioned computer program product.

[0017] In the embodiment of the present application, the target vehicle's moving direction information is obtained; according to the moving direction information, the target field of view angle range of the target vehicle's detection device for detecting the area of ​​interest is determined; and the detection device is controlled to detect according to the target field of view angle range. In this way, combined with the vehicle's moving direction information, the field of view angle range of the vehicle's detection device for detecting the area of ​​interest under various driving conditions is dynamically adjusted, thereby ensuring that the vehicle's detection device has good adaptability under various driving conditions, thereby ensuring the vehicle's driving safety and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a schematic diagram of an implementation environment scenario of the detection control method provided in an embodiment of the present application;

[0020] Figure 2 It is a flow chart of a detection control method provided by an embodiment of the present application;

[0021] Figure 3 This is a schematic diagram of a scenario of an existing detection control method provided by an embodiment of the present application;

[0022] Figure 4This is a schematic diagram of a scenario in a detection control method provided by an embodiment of the present application;

[0023] Figure 5 In a detection control method provided by an embodiment of the present application, the detection device is a system architecture diagram of a semi-solid rotating mirror laser radar sensor;

[0024] Figure 6 In a detection control method provided by an embodiment of the present application, the detection device is a synchronous timing control flow chart of a semi-solid rotating mirror laser radar sensor;

[0025] Figure 7 It is a detection control method provided by an embodiment of the present application, wherein the detection device is a semi-solid rotating mirror laser radar sensor - a working flow chart;

[0026] Figure 8 is a structural schematic diagram of a detection control device provided by an embodiment of the present application;

[0027] Fig. 9 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0029] In addition, the term "plurality" in the embodiments of the present application refers to two or more than two. The terms "first" and "second" in the embodiments of the present application are used to distinguish descriptions and should not be understood as implying relative importance.

[0030] The embodiments of the present application provide a detection control method, device, electronic device, storage medium, computer program product and vehicle. The detection control device can be integrated in an electronic device, which can be a server or a terminal.

[0031] Among them, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), as well as big data and artificial intelligence platforms.

[0032] The terminal may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server may be directly or indirectly connected via wired or wireless communication, and this application does not limit this.

[0033] See also Figure 1 , taking the detection control device integrated into the electronic equipment as an example, Figure 1 A schematic diagram of an implementation scenario of the detection control method provided in an embodiment of the present application, wherein the electronic device can be a terminal device, which obtains the travel direction information of a target vehicle; determines, based on the travel direction information, a target field of view angle range of a detection device of the target vehicle for detecting an area of ​​interest, wherein the area of ​​interest includes an environmental area corresponding to the travel direction; and controls the detection device to perform detection according to the target field of view angle range.

[0034] It should be noted that Figure 1 The implementation environment scenario diagram of the detection control method shown is only an example. The implementation environment scenario of the detection control method described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application. It is known to those skilled in the art that with the evolution of data processing and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0035] The solutions provided by the embodiments of the present application are specifically described by the following embodiments. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0036] This embodiment will be described from the perspective of a detection control device, which may be integrated into an electronic device, which may be a terminal and / or a server, and this application does not limit this.

[0037] See also Figure 2 , Figure 2 : is a flow chart of a detection control method provided in an embodiment of the present application. The detection control method may include the following steps S101 to S103:

[0038] S101. Acquire the moving direction information of the target vehicle.

[0039] The target vehicle refers to a vehicle that needs to perform environmental detection and obtain detection information to ensure safe driving. The travel direction information refers to information used to indicate the travel direction of the target vehicle. The travel direction can be the direction in which the vehicle is traveling, or the direction in which the vehicle is about to travel. The specific direction can be adjusted according to the actual situation, and the embodiments of the present application do not limit it.

[0040] The traveling direction information can be expressed in a variety of forms, which can be set according to actual conditions, and the embodiments of the present application do not limit it. For example, the traveling direction information indicates that the vehicle is traveling 1° to the right relative to the traveling direction at the previous moment. For another example, the traveling direction information is based on the road on which the vehicle is traveling and traveling in the forward direction along the road line.

[0041] S102: Determine, based on the traveling direction information, a target field of view angle range of a detection device of the target vehicle for detecting an area of ​​interest, where the area of ​​interest includes an environment area corresponding to the traveling direction.

[0042] The detection device refers to a device installed on the vehicle and used to detect the area of ​​interest of the vehicle's surrounding environment. The area of ​​interest refers to the area that is likely to affect the safe driving of the vehicle under various driving conditions.

[0043] Among them, there can be multiple types of detection equipment, which can be adjusted according to actual conditions and are not limited in the embodiments of the present application.

[0044] For example, the detection device is a photographing device such as a camera, an event camera, etc. For another example, the detection device is a laser radar sensor. Specifically, the detection device can be a mechanical laser radar sensor, and the detection device can also be a semi-solid laser radar sensor (such as a semi-solid rotating mirror laser radar sensor, a semi-solid prism laser radar sensor). The subsequent embodiments of this application are explained using a laser radar sensor as an example, which is not regarded as a limitation on the detection device of this application.

[0045] The target field of view angle range refers to the field of view angle range of the area of ​​interest of the vehicle surrounding environment within the field of view angle range supported by the detection device. That is, the target field of view angle range is not greater than the maximum field of view angle range supported by the corresponding detection device.

[0046] It should be noted that different types of detection equipment have different maximum field of view angle ranges. For example, the maximum field of view angle range supported by a mechanical laser radar sensor is 360°. For another example, the maximum field of view angle range supported by a semi-solid rotating mirror laser radar sensor is 120°×25.4°, where 120° is used to indicate the maximum horizontal field of view angle of the semi-solid rotating mirror laser radar sensor, and 25.4° is used to indicate the maximum vertical field of view angle of the semi-solid rotating mirror laser radar sensor.

[0047] S103: Control the detection device to perform detection according to the target field of view angle range.

[0048] Specifically, the detection device is controlled to detect the area of ​​interest corresponding to the target field of view angle range, that is, the environment area corresponding to the traveling direction. If the area is not covered by the target field of view angle range, no detection is performed.

[0049] It should be noted that the actual detection field of view of the LiDAR sensor determines the actual detectable spatial range of the LiDAR sensor. Flexible field of view and resolution can better play the advantages of LiDAR sensors. Figure 3 , Figure 3 Schematic diagram of a scenario of an existing detection control method provided by an embodiment of the present application. Figure 3 As shown in the figure, the existing detection control method is to detect the environment in front of the vehicle by detecting the middle area of ​​the field of view of the LiDAR sensor, and obtain detection information to ensure safe driving. This solution can improve the linear resolution of the LiDAR sensor, thereby improving the detection effect of the middle area of ​​the field of view. However, since the actual detection field of view of the LiDAR sensor is a fixed angle directly in front of the vehicle, in various complex driving scenarios, such as sharp turns and drifting, the actual detection field of view may not be the most interesting area of ​​the vehicle's surrounding environment. Even in sharp turns and other scenarios, the area not covered by the field of view of the LiDAR sensor is often the driver's visual blind spot, such as Figure 3 The area where the pedestrians are located. This results in the existing detection control scheme being unable to adapt well to such complex driving conditions and ensure driving safety.

[0050] To solve the above problems, see Figure 4 , Figure 4 Schematic diagram of a scene of the detection control method provided by the embodiment of the present application. By combining the vehicle's traveling direction information, the field of view angle range of the vehicle's detection device for detecting the area of ​​interest under various driving conditions is dynamically adjusted, such as Figure 4 In the sharp turn scenario shown, by combining the vehicle's direction of travel information, the field of view angle range of the detection equipment changes as the vehicle turns, so that the field of view angle range of the lidar sensor can cover the driver's visual blind spot (area of ​​interest), thereby ensuring that the vehicle's detection equipment has good adaptability in various driving conditions, thereby ensuring the vehicle's driving safety and improving the user experience.

[0051] It can be seen that the detection control method provided in the embodiment of the present application obtains the moving direction information of the target vehicle; determines the target field angle range of the detection device of the target vehicle for detecting the area of ​​interest according to the moving direction information; and controls the detection device to detect according to the target field angle range. In this way, combined with the moving direction information of the vehicle, the field angle range of the detection device of the vehicle for detecting the area of ​​interest under various driving conditions is dynamically adjusted, thereby ensuring that the detection device of the vehicle has good adaptability under various driving conditions, thereby ensuring the driving safety of the vehicle and improving the user experience.

[0052] It should be noted that there are many ways to obtain the vehicle's traveling direction information, which can be adjusted according to actual conditions and are not limited in the embodiments of the present application.

[0053] In some embodiments, the method of obtaining the vehicle's traveling direction information may include: obtaining the orientation information of the steering wheel servo of the target vehicle; directly obtaining and extracting the traveling direction information of the target vehicle from the orientation detection module in the orientation information, and the traveling direction information indicates the traveling direction of the target vehicle.

[0054] The steering wheel servo refers to a steering wheel device used to control the direction of the vehicle. The orientation information of the steering wheel servo includes the direction in which the vehicle is traveling or the direction in which the vehicle is about to travel.

[0055] The traveling direction of the target vehicle indicated by the traveling direction information refers to the relative traveling direction of the target vehicle. For example, the traveling direction of the target vehicle is 1° to the right.

[0056] Specifically, the orientation information of the steering wheel servo of the target vehicle can be obtained by detecting the steering wheel device of the vehicle in real time through a steering wheel servo orientation detection module set on the vehicle, and obtaining the orientation information of the steering wheel servo of the vehicle. The steering wheel servo orientation detection module can be set on the steering system of the vehicle, or on the steering wheel servo of the vehicle, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit it.

[0057] In this embodiment, by directly acquiring the orientation information of the steering wheel servo of the target vehicle, the vehicle's direction of travel information can be quickly determined, so that the target field of view angle range can be quickly determined in combination with the vehicle's direction of travel information, thereby improving the efficiency of determining the target field of view angle range.

[0058] Based on the above embodiments, the process of determining the target field of view angle range of the detection equipment of the target vehicle for detecting the area of ​​interest according to the travel direction information may include: obtaining a first correspondence between the travel direction and the field of view angle range of the detection equipment; and according to the first correspondence, determining the field of view angle range that matches the travel direction indicated by the travel direction information as the target field of view angle range.

[0059] Among them, the first corresponding relationship can have multiple forms of expression, which can be adjusted according to actual conditions, and the embodiments of the present application are not limited. For example, the first corresponding relationship can be a one-to-one relationship between the direction of travel and the field of view angle range. For another example, the first corresponding relationship can also be a many-to-one relationship between the direction of travel and the field of view angle range.

[0060] The target field of view angle range refers to the field of view angle range that matches the traveling direction indicated by the traveling direction information in the first corresponding relationship.

[0061] Exemplarily, assume that the first correspondence is: {driving right: [-60°, -20°], driving forward: (-20°, 20°), driving left: [20°, 60°]}. The travel direction includes driving right, driving right, and driving left. The field of view angle range includes [-60°, -20°], (-20°, 20°) and [20°, 60°]. Among them, "driving right: [-60°, -20°]" means that when the travel direction is driving right, the field of view angle range is [-60°, -20°].

[0062] In this example, assuming that the traveling direction indicated by the traveling direction information at this time is forward traveling, the target viewing angle range determined based on the above first corresponding relationship is (-20°, 20°).

[0063] In some embodiments, the method of obtaining the vehicle's traveling direction information may also include: obtaining the first traveling direction of the target vehicle at the previous moment and the second traveling direction at the current moment; and obtaining the traveling direction information of the target vehicle based on the azimuth angle difference between the first traveling direction and the second traveling direction.

[0064] The first traveling direction is used to indicate the specific traveling angle of the target vehicle at the previous moment in a reference coordinate system, and the second traveling direction is used to indicate the specific traveling angle of the target vehicle at the current moment in a reference coordinate system. The first traveling direction and the second traveling direction use the same reference coordinate system.

[0065] Exemplarily, the reference coordinate system is based on the direction of the road line on which the vehicle is traveling, with the left side being the positive direction, that is, when traveling in the positive direction along the road line, the azimuth angle of the traveling direction is 0°, when traveling to the right along the road line, the azimuth angle of the traveling direction is a negative number, and when traveling to the left along the road line, the azimuth angle of the traveling direction is a positive number.

[0066] In this example, assuming that the azimuth angle of the vehicle's first traveling direction is 0° and the azimuth angle of the second traveling direction is -1°, based on the azimuth angle difference between the first traveling direction and the second traveling direction, it can be determined that the traveling direction information of the target vehicle is 1° to the right.

[0067] Based on the above embodiment, the process of determining the target field of view angle range of the detection equipment of the target vehicle for detecting the area of ​​interest according to the travel direction information may also include: obtaining the field of view angle range of the detection equipment at the previous moment; determining the field of view angle range change information of the detection equipment according to the travel direction information; determining the target field of view angle range of the detection equipment at the current moment according to the field of view angle range at the previous moment and the field of view angle range change information.

[0068] The field of view angle range change information refers to the change information between the field of view angle range of the traveling direction at the current moment and the field of view angle range of the traveling direction at the previous moment.

[0069] Among them, the field of view angle range change information can be angle change information, and the field of view angle range change information can also be the number of delayed or advanced rows corresponding to the starting time of the point cloud of the laser radar sensor, which can be adjusted according to actual conditions.

[0070] For example, the field of view angle range of the direction of travel at the previous moment is (-20°, 20°), and the field of view angle range of the direction of travel at the current moment is (-19°, 21°), and the field of view angle range change information is 1°. For another example, the field of view angle range of the direction of travel at the previous moment is the point cloud starting time of the laser radar sensor is the 10th line, and the field of view angle range of the direction of travel at the current moment is the point cloud starting time of the laser radar sensor is the 18th line, and the field of view angle range change information is the point cloud starting time of the laser radar sensor is delayed by 8 lines.

[0071] Among them, the process of determining the field of view angle range change information of the detection device based on the travel direction information can be: obtaining the correspondence between the preset travel direction and the preset field of view angle range change information, and based on the correspondence, determining the preset field of view angle range change information that matches the travel direction indicated by the travel direction information as the field of view angle range change information.

[0072] Exemplarily, it is assumed that the preset field of view angle range change information is the number of lines delayed or advanced corresponding to the start time of the laser radar sensor's point cloud. Assume that the corresponding relationship is: when the direction of travel indicates 1° to the right, the start time of the laser radar sensor's point cloud is delayed by 8 lines, and when the direction of travel indicates 1° to the left, the start time of the laser radar sensor's point cloud is advanced by 8 lines. If the direction of travel indicated by the direction of travel information is 1° to the right, the field of view angle range change information is 8 lines delayed from the start time of the laser radar sensor's point cloud.

[0073] In this embodiment, by obtaining the field of view angle range of the detection device at the previous moment; determining the field of view angle range change information of the detection device according to the travel direction information; determining the target field of view angle range of the detection device at the current moment according to the field of view angle range at the previous moment and the field of view angle range change information, the field of view angle range of the vehicle's detection device for detecting the area of ​​interest under various driving conditions can be dynamically adjusted in combination with the vehicle's travel direction information, thereby ensuring that the vehicle's detection equipment has good adaptability under various driving conditions, thereby ensuring the vehicle's driving safety and improving the user experience.

[0074] In some embodiments, the process of controlling the detection device to perform detection according to the target field of view angle range may include: determining the target motor parameters of the detection device when the detection device performs detection according to the target field of view angle range; during the operation of the detection device, obtaining the actual motor parameters of the detection device; if the actual motor parameters match the target motor parameters, controlling the detection device to perform detection.

[0075] Among them, the motor parameters are used to indicate the relevant parameters of the motor included in the detection device. The specific type of the motor parameters can be adjusted according to the actual situation, and the embodiments of the present application are not limited. For example, the motor parameters may include the motor angle directly read by the position sensor, and for another example, the motor parameters include the motor speed and resolution (i.e., the number of pulses output by the encoder per revolution), combined with the motor speed and resolution The motor angle determined.

[0076] Among them, the target motor parameter refers to the theoretical motor parameter when the detection device performs detection work. The target motor parameter may refer to the starting motor parameter that triggers the detection device to detect according to the target field of view angle range. The target motor parameter may also refer to the motor parameter that appears during the process of controlling the detection device to detect according to the target field of view angle range. It can be adjusted according to actual conditions, and the embodiments of this application are not limited.

[0077] The actual motor parameters refer to the motor parameters actually obtained by the detection device during the operation of the detection device.

[0078] In this embodiment, the target field of view angle range may include a target starting angle, and the motor parameters include a motor angle.

[0079] Based on this, the above process of determining the target motor parameters of the detection device when controlling the detection device for detection according to the target field of view angle range may include: obtaining a second correspondence between a preset motor angle and a preset starting angle; and determining a preset motor angle that matches the target starting angle as the target motor angle according to the second correspondence.

[0080] The preset starting angle refers to the starting angle of the detectable field of view angle of the pre-configured field of view angle range.

[0081] Among them, the second corresponding relationship can have a variety of expressions, which can be adjusted according to actual conditions, and the embodiments of the present application are not limited. For example, the second corresponding relationship can be a one-to-one relationship between a preset motor angle and a preset starting angle. For another example, the second corresponding relationship can also be a many-to-one relationship between a preset motor angle and a preset starting angle.

[0082] Specifically, the spatial orientation calibration information of the detection device itself can be obtained, and based on the calibration information, the preset motor angle of the motor inside the detection device and the preset starting angles of the field of view angle range supported by the detection device are matched to obtain a second corresponding relationship.

[0083] In some embodiments, when the detection device is a semi-solid rotating mirror laser radar sensor, the semi-solid rotating mirror laser radar sensor includes a mirror motor, a laser receiver, and a laser receiver trigger module.

[0084] In this embodiment, if the actual motor parameters match the target motor parameters, the process of controlling the detection device to perform detection may include: when the actual motor angle of the mirror motor reaches the target motor angle, obtaining a synchronization timing signal generated based on the target field of view angle range; sending the synchronization timing signal to the laser receiver through the laser receiver trigger module to control the laser receiver to perform detection based on the synchronization timing signal.

[0085] Through the above embodiments, it is ensured that the semi-solid rotating mirror laser radar can dynamically change its field of view angle range without increasing additional hardware costs, thereby improving its adaptability and enhancing the user experience.

[0086] Specifically, combined Figures 5 to 8 , a specific embodiment is used to explain when the detection device is a semi-solid rotating mirror laser radar sensor.

[0087] See also Figure 5 , Figure 5 The detection device is a semi-solid rotating mirror laser radar sensor system architecture diagram. Figure 5 It can be seen that the semi-solid rotating mirror laser radar sensor includes a main controller, a motor (i.e., a mirror motor), a laser receiving module (i.e., a laser receiver and a laser receiver trigger module) and a laser emitting module.

[0088] See also Figure 6 , Figure 6 This is a synchronous timing control flow chart of a semi-solid rotating mirror laser radar sensor provided in an embodiment of the present application. Figure 6 It can be seen that the synchronous timing control method of the semi-solid rotating mirror laser radar sensor provided in the embodiment of the present application may include the following steps S201 to S205:

[0089] S201. Obtain and send a steering angle through a steering system.

[0090] Specifically, the steering system mainly includes a steering wheel servo position detection module, through which the steering wheel servo position detection module can obtain the steering wheel servo position in real time. The steering wheel servo position can indicate the direction in which the vehicle is or will move. The steering system sends the vehicle's direction of travel, or the steering angle determined based on the vehicle's direction of travel, to the laser radar sensor (i.e., a semi-solid rotating mirror laser radar sensor) in real time, so that the laser radar sensor can sense the vehicle's travel information; the sending method can be through an in-vehicle communication bus, such as a CAN bus, Ethernet, a dedicated bus, etc.

[0091] S202: Calculate the target field of view angle and determine the starting angle of single-frame detection.

[0092] Specifically, when the lidar sensor receives the vehicle's direction of travel information, it calculates in real time the field of view angle range that the lidar sensor is most interested in. The field of view angle range will cover the driver's visual blind spot, thereby maximizing the advantages of the lidar sensor.

[0093] S203, reading the motor angle of the laser radar sensor, combining the starting angle of the single-frame detection (ie, the frame starting angle) and the motor angle, to determine the starting time of the single-frame detection.

[0094] Specifically, in a semi-solid rotating mirror LiDAR sensor, since the mirror motor is often equipped with a motor angle encoder, such as an optical encoder or a magnetic encoder, the encoder can obtain the rotation angle of the mirror motor in real time, and then trigger the laser receiver to start single-frame data acquisition at the appropriate motor angle.

[0095] S204, performing laser receiver timing control in combination with the start time of the single frame detection.

[0096] Specifically, in combination with the start time of the single frame detection, the synchronization operation of the laser receiver is controlled, such as generating a frame synchronization signal, a line synchronization signal, and a laser emission synchronization signal.

[0097] The frame synchronization signal is used by the main controller to synchronize the laser receiver of the lidar sensor for single-frame detection.

[0098] Among them, the row synchronization signal is used by the main controller to synchronize the laser receiver of the lidar sensor. The main controller outputs a row synchronization signal, and the laser receiver receives the synchronization signal to generate a column of point cloud images accordingly. Multiple columns of point cloud images form a frame of point cloud images.

[0099] The laser emission synchronization signal is used by the main controller to synchronize the laser transmitter of the laser radar sensor to emit laser.

[0100] S205. Perform synchronization timing processing based on the synchronization signal through the laser receiver.

[0101] Specifically, the laser receiver is used to receive the returned laser, thereby realizing the timing and ranging functions. The laser receiver receives the synchronous timing control signal, and generates the receiving timing of the single frame data based on the synchronous timing control signal. For example, after recognizing the rising edge of the frame synchronization signal, the laser receiver starts to detect the single frame point cloud image, and after recognizing the rising edge of the line synchronization signal, the laser receiver starts to detect the single line point cloud image.

[0102] See also Figure 7 , Figure 7 This is a working diagram of a semi-solid rotating mirror laser radar sensor provided in an embodiment of the present application. Figure 7 It can be seen that a workflow of the semi-solid rotating mirror laser radar sensor provided in the embodiment of the present application may include the following steps S301 to S304:

[0103] S301. Obtain the vehicle's traveling direction information through the steering system.

[0104] S302: Determine whether the vehicle is turning according to the vehicle's traveling direction information. If not, continue to execute step S301; if yes, execute step S303.

[0105] S303: When determining whether the vehicle is turning, calculate the target field of view angle range of the laser radar sensor.

[0106] S304, according to the laser receiver single frame trigger module, control the laser radar sensor to detect according to the target field of view angle range.

[0107] Specifically, when receiving the position information of the mirror motor angle encoder, the motor angle of the mirror motor inside the radar is sensed in real time. When the motor angle of the mirror motor reaches the starting angle of the single-frame detection determined by the target field of view angle, a synchronization timing signal is sent to the laser receiver. The synchronization timing signal includes a frame synchronization signal, a line synchronization signal, a laser emission synchronization signal, etc. Through the laser receiver single-frame trigger module, the starting angle of the single-frame data can be flexibly and conveniently controlled, that is, the field of view angle of most interest to the laser radar detection can be controlled.

[0108] Through the above steps, it is ensured that the semi-solid rotating mirror laser radar can dynamically change its field of view angle range without increasing additional hardware costs, improve its adaptability, and enhance the user experience.

[0109] In some embodiments, the above-mentioned detection control also includes: determining the steering angle of the target vehicle based on the travel direction information; if the steering angle is less than the preset steering angle, the step of determining the target field of view angle range of the detection equipment of the target vehicle for detecting the area of ​​interest according to the travel direction information is not executed.

[0110] The preset steering angle is used to indicate the minimum steering angle of the vehicle when the target field of view angle range needs to be determined.

[0111] Specifically, if the vehicle does not change its direction or the change in direction is less than a threshold, the detection device does not respond and continues to detect with the current field of view angle range. If the vehicle changes its direction of travel, the detection device starts to calculate and update the field of view angle of greatest interest, i.e., the target field of view angle range, in real time.

[0112] In some embodiments, after determining the target field of view angle range of the detection device of the target vehicle for detecting the area of ​​interest based on the travel direction information, the above-mentioned detection control method also includes: if the steering angle is not less than the preset steering angle, and the target field of view angle range includes the angle corresponding to the edge of the field of view angle detectable by the detection device, based on the target field of view angle range, determining the target edge field of view angle range from the edge field of view angle range of the detection device; and updating the target field of view angle range based on the target edge field of view angle range.

[0113] The edge field of view angle range refers to the field of view angle range including the angle corresponding to the edge of the field of view angle detectable by the detection device. The number of the edge field of view angle ranges of the detection device is 2, which are distributed on the edge of the detection device in a left-right manner. According to the target edge field of view angle range, the process of updating the target field of view angle range may be: using the target edge field of view angle range as the target field of view angle range to achieve the update of the target field of view angle range.

[0114] According to the target edge field of view angle range, the process of updating the target field of view angle range can also be: based on the target edge field of view angle range, correcting one side endpoint of the field of view angle of the target field of view angle range, and comparing the corrected target field of view angle range with the target field of view angle range.

[0115] In order to better implement the detection control method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above detection control method. The meanings of the terms are the same as those in the above detection control method, and the specific implementation details can refer to the description in the method embodiment.

[0116] For example, Figure 8 As shown, the detection control device may include a traveling direction information acquisition unit 401, a target field of view angle range determination unit 402 and a detection unit 403, as follows:

[0117] A traveling direction information acquisition unit 401 is used to acquire the traveling direction information of the target vehicle;

[0118] A target viewing angle range determining unit 402 is used to determine a target viewing angle range for a detection device of the target vehicle to detect an area of ​​interest based on the traveling direction information, where the area of ​​interest includes an environment area corresponding to the traveling direction;

[0119] The detection unit 403 is used to control the detection device to perform detection according to the target field of view angle range.

[0120] In one embodiment of the present application, the traveling direction information acquiring unit 401 includes:

[0121] A position information acquisition subunit, used to acquire the position information of the steering wheel servo of the target vehicle;

[0122] The first traveling direction information determining subunit is used to extract the traveling direction information of the target vehicle from the orientation information, and the traveling direction information indicates the traveling direction of the target vehicle.

[0123] In one embodiment of the present application, the target viewing angle range determining unit 402 includes:

[0124] A first correspondence acquisition subunit, used to acquire a first correspondence between the traveling direction and the field of view angle range of the detection device;

[0125] The target viewing angle range first determination subunit is used to determine, according to the first corresponding relationship, a viewing angle range that matches the traveling direction indicated by the traveling direction information as the target viewing angle range.

[0126] In one embodiment of the present application, the traveling direction information acquiring unit 401 includes:

[0127] A traveling direction acquisition subunit, used to acquire a first traveling direction of the target vehicle at a previous moment and a second traveling direction at a current moment;

[0128] The second traveling direction information determining subunit is used to obtain the traveling direction information of the target vehicle according to the azimuth angle difference between the first traveling direction and the second traveling direction.

[0129] In one embodiment of the present application, the target viewing angle range determining unit 402 includes:

[0130] The field of view angle range acquisition subunit is used to obtain the field of view angle range of the detection device at the previous moment;

[0131] The second target viewing angle range determination subunit is used for the viewing angle range change information determination subunit, which is used to determine the target viewing angle range of the detection device at the current moment based on the viewing angle range at the previous moment and the viewing angle range change information.

[0132] In one embodiment of the present application, the detection unit 403 includes:

[0133] A target motor parameter determination subunit, used to determine the target motor parameters of the detection device when the detection device performs detection according to the target field of view angle range;

[0134] The actual motor parameter acquisition subunit is used to acquire the actual motor parameters of the detection device during the operation of the detection device;

[0135] The detection subunit is used to control the detection device to perform detection if the actual motor parameters match the target motor parameters.

[0136] In one embodiment of the present application, the target field of view angle range includes a target starting angle, and the motor parameters include a motor angle.

[0137] Based on this, the above target motor parameter determination subunit specifically includes:

[0138] Acquire a second corresponding relationship between a preset motor angle and a preset starting angle;

[0139] According to the second corresponding relationship, a preset motor angle matching the target starting angle is determined as the target motor angle.

[0140] In one embodiment of the present application, the detection device includes a semi-solid rotating mirror laser radar sensor, and the semi-solid rotating mirror laser radar sensor includes a mirror motor, a laser receiver, and a laser receiver trigger module.

[0141] Based on this, the above detection subunit specifically includes:

[0142] When the actual motor angle of the mirror motor reaches the target motor angle, a synchronization timing signal generated based on the target field of view angle range is obtained;

[0143] The synchronous timing signal is sent to the laser receiver through the laser receiver trigger module to control the laser receiver to perform detection based on the synchronous timing signal.

[0144] In one embodiment of the present application, the detection control device further includes:

[0145] A steering angle determination unit, used to determine a steering angle of the target vehicle based on the traveling direction information;

[0146] The execution determination unit is used to not execute the step of determining the target field of view angle range of the detection equipment of the target vehicle for detecting the area of ​​interest according to the travel direction information when the steering angle is less than the preset steering angle.

[0147] In an embodiment of the present application, after the target viewing angle range determination unit 402, the detection control device further includes:

[0148] a target edge viewing angle range determining unit, configured to determine the target edge viewing angle range from the edge viewing angle range of the detection device based on the target viewing angle range if the steering angle is not less than a preset steering angle and the target viewing angle range includes an angle corresponding to the viewing angle edge detectable by the detection device;

[0149] The target viewing angle range updating unit is used to update the target viewing angle range according to the target edge viewing angle range.

[0150] It can be seen that the detection control device provided in the embodiment of the present application obtains the traveling direction information of the target vehicle through the traveling direction information acquisition unit 401; the target field of view angle range determination unit 402 determines the target field of view angle range of the detection equipment of the target vehicle for detecting the area of ​​interest according to the traveling direction information; the detection unit 403 controls the detection equipment to detect according to the target field of view angle range. In this way, combined with the traveling direction information of the vehicle, the field of view angle range of the detection equipment of the vehicle for detecting the area of ​​interest under various driving conditions is dynamically adjusted, so as to ensure that the detection equipment of the vehicle has good adaptability under various driving conditions, thereby ensuring the driving safety of the vehicle and improving the user experience.

[0151] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0152] The embodiment of the present application also provides an electronic device, wherein the operating system of the electronic device includes a first operating system and a second operating system. Fig. 9 As shown, it shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically:

[0153] The electronic device may include components such as a processor 501 with one or more processing cores, a memory 502 with one or more storage media, a power supply 503, and an input unit 504. Those skilled in the art will appreciate that Fig. 9 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0154] The processor 501 is the control center of the electronic device, which uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions of the electronic device and processes data by running or executing computer programs and / or modules stored in the memory 502, and calling data stored in the memory 502. Optionally, the processor 501 may include one or more processing cores; preferably, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 501.

[0155] The memory 502 can be used to store computer programs and modules. The processor 501 executes various functional applications and detection controls by running the computer programs and modules stored in the memory 502. The memory 502 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 502 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 502 may also include a memory controller to provide the processor 501 with access to the memory 502.

[0156] The electronic device also includes a power supply 503 for supplying power to each component. Preferably, the power supply 503 can be logically connected to the processor 501 through a power management system, so as to manage charging, discharging, power consumption and other functions through the power management system. The power supply 503 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators and other arbitrary components.

[0157] The electronic device may further include an input unit 504, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0158] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 501 in the electronic device will load the executable files corresponding to the processes of one or more computer programs into the memory 502 according to the following instructions, and the processor 501 will run the computer programs stored in the memory 502, thereby realizing various functions, such as:

[0159] Obtain the moving direction information of the target vehicle;

[0160] According to the traveling direction information, determining the target field of view angle range of the detection device of the target vehicle for detecting the region of interest, where the region of interest includes the environment region corresponding to the traveling direction;

[0161] Control the detection equipment to perform detection according to the target field of view angle range.

[0162] It can be seen that the electronic device provided in the embodiment of the present application obtains the moving direction information of the target vehicle; determines the target field angle range of the detection device of the target vehicle for detecting the area of ​​interest according to the moving direction information; and controls the detection device to detect according to the target field angle range. In this way, combined with the moving direction information of the vehicle, the field angle range of the detection device of the vehicle for detecting the area of ​​interest under various driving conditions is dynamically adjusted, thereby ensuring that the detection device of the vehicle has good adaptability under various driving conditions, thereby ensuring the driving safety of the vehicle and improving the user experience.

[0163] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the detection control method above, which will not be elaborated here.

[0164] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a storage medium and loaded and executed by a processor.

[0165] To this end, an embodiment of the present application provides a storage medium in which a computer program is stored, and the computer program can be loaded by a processor to execute the steps in any detection control method provided in the embodiment of the present application. For example, the computer program can execute the following steps:

[0166] Obtain the moving direction information of the target vehicle;

[0167] According to the traveling direction information, determining a target field of view angle range of a detection device of the target vehicle for detecting an area of ​​interest, where the area of ​​interest includes an environment area corresponding to the traveling direction;

[0168] Control the detection equipment to perform detection according to the target field of view angle range.

[0169] It can be seen that the storage medium provided in the embodiment of the present application obtains the moving direction information of the target vehicle; determines the target field angle range of the detection device of the target vehicle for detecting the area of ​​interest according to the moving direction information; and controls the detection device to detect according to the target field angle range. In this way, combined with the moving direction information of the vehicle, the field angle range of the detection device of the vehicle for detecting the area of ​​interest under various driving conditions is dynamically adjusted, thereby ensuring that the detection device of the vehicle has good adaptability under various driving conditions, thereby ensuring the driving safety of the vehicle and improving the user experience.

[0170] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0171] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0172] Since the computer program stored in the storage medium can execute the steps in any detection control method provided in the embodiments of the present application, the beneficial effects that can be achieved by any detection control method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0173] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device performs the above detection control method.

[0174] The embodiment of the present application also provides a vehicle, which includes the above-mentioned detection control device, or the above-mentioned electronic device, or the above-mentioned computer program product. The specific structure of the vehicle is not limited in this application. The specific implementation methods and corresponding beneficial effects of the above-mentioned operations of the electronic device are also applicable to the vehicle. For details, please refer to the detailed description of the detection control method above, which will not be repeated here.

[0175] The above is a detailed introduction to a detection control method, device, electronic device, storage medium and vehicle provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A detection control method, characterized in that: The method comprises: Obtain the moving direction information of the target vehicle; Determine, based on the traveling direction information, a target field of view angle range of a detection device of the target vehicle for detecting an area of ​​interest, wherein the area of ​​interest includes an environment area corresponding to the traveling direction; The detection device is controlled to perform detection according to the target field of view angle range.

2. The detection control method according to claim 1, characterized in that: The obtaining of the moving direction information of the target vehicle includes: Obtaining the position information of the steering wheel servo of the target vehicle; The traveling direction information of the target vehicle is extracted from the position information, wherein the traveling direction information indicates the traveling direction of the target vehicle.

3. The detection control method according to claim 2, characterized in that: The step of determining, based on the traveling direction information, a target field of view angle range of a detection device of the target vehicle for detecting an area of ​​interest comprises: Acquire a first corresponding relationship between a traveling direction and a field of view angle range of the detection device; According to the first corresponding relationship, a field of view angle range that matches the traveling direction indicated by the traveling direction information is determined as a target field of view angle range.

4. The detection control method according to claim 1, characterized in that: The obtaining of the moving direction information of the target vehicle includes: Obtaining a first moving direction of the target vehicle at a previous moment and a second moving direction at a current moment; The traveling direction information of the target vehicle is obtained according to the azimuth angle difference between the first traveling direction and the second traveling direction.

5. The detection control method according to claim 4, characterized in that: The step of determining, based on the traveling direction information, a target field of view angle range of a detection device of the target vehicle for detecting an area of ​​interest comprises: Obtaining the field of view angle range of the detection device at the previous moment; Determining, according to the traveling direction information, information on a change in the field of view angle range of the detection device; The target field of view angle range of the detection device at the current moment is determined according to the field of view angle range at the previous moment and the field of view angle range change information.

6. The detection control method according to claim 1, characterized in that: The controlling the detection device to perform detection according to the target field of view angle range includes: Determining target motor parameters of the detection device when the detection device performs detection according to the target field of view angle range; During the operation of the detection device, obtaining actual motor parameters of the detection device; If the actual motor parameters match the target motor parameters, the detection device is controlled to perform detection.

7. The detection control method according to claim 6, characterized in that: The target field of view angle range includes a target starting angle, and the motor parameter includes a motor angle; the target motor parameter of the detection device when controlling the detection device to perform detection according to the target field of view angle range includes: Acquire a second corresponding relationship between a preset motor angle and a preset starting angle; According to the second corresponding relationship, a preset motor angle matching the target starting angle is determined as the target motor angle.

8. The detection control method according to claim 7, characterized in that: The detection device includes a semi-solid rotating mirror laser radar sensor, and the semi-solid rotating mirror laser radar sensor includes a mirror motor, a laser receiver, and a laser receiver trigger module; if the actual motor parameter matches the target motor parameter, controlling the detection device to perform detection includes: When the actual motor angle of the mirror motor reaches the target motor angle, acquiring a synchronization timing signal generated based on the target field of view angle range; The synchronization timing signal is sent to the laser receiver through the laser receiver trigger module to control the laser receiver to perform detection based on the synchronization timing signal.

9. The detection control method according to any one of claims 1 to 8, characterized in that: The method further comprises: determining a steering angle of the target vehicle based on the travel direction information; If the steering angle is less than the preset steering angle, the step of determining the target field of view angle range of the detection device of the target vehicle for detecting the area of ​​interest based on the travel direction information is not performed.

10. The detection control method according to claim 9, characterized in that: After determining the target field of view angle range of the detection device of the target vehicle for detecting the region of interest according to the traveling direction information, the method further includes: If the steering angle is not less than the preset steering angle, and the target field of view angle range includes the angle corresponding to the edge of the field of view angle detectable by the detection device, based on the target field of view angle range, determine the target edge field of view angle range from the edge field of view angle range of the detection device; The target field of view angle range is updated according to the target edge field of view angle range.

11. A detection control device, characterized in that: The device comprises: A traveling direction information acquisition unit, used to acquire the traveling direction information of the target vehicle; A target field of view angle range determination unit, used to determine, according to the traveling direction information, a target field of view angle range of a detection device of the target vehicle for detecting an area of ​​interest, wherein the area of ​​interest includes an environment area corresponding to the traveling direction; The detection unit is used to control the detection device to perform detection according to the target field of view angle range.

12. An electronic device, characterized in that: The invention comprises one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the detection control method according to any one of claims 1 to 10.

13. A storage medium, characterized in that: The invention comprises a computer program, and when the computer program is run on an electronic device, the computer program is used to make the electronic device execute the steps of the detection control method according to any one of claims 1 to 10.

14. A computer program product, characterized in that The method comprises a computer program or an instruction, and when the computer program or the instruction is executed by a processor, the steps of the detection control method according to any one of claims 1 to 10 are implemented.

15. A vehicle, characterized in that: The vehicle comprises the detection control device according to claim 11, or the electronic device according to claim 12, or the storage medium according to claim 13, or the computer program product according to claim 14.

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