Method and device for adjusting position of intelligent driving sensor capable of adaptively adjusting height

Abstract

The invention provides a method and a device for adjusting the position of an intelligent driving sensor capable of adaptively adjusting the height. The method comprises the steps that multiple pieces of position data of each intelligent driving sensor of a vehicle under different environment working conditions are determined, external parameter calibration processing is conducted on the intelligent driving sensors according to the multiple pieces of position data of each intelligent driving sensor, and calibration files of the intelligent driving sensors are obtained; in the automatic driving process of the vehicle, original data collected by the intelligent driving sensors are obtained, the data quality of the intelligent driving sensors is determined according to the original data, and the current driving environment working condition of the vehicle is determined at least according to the data quality and the original data; and adjusting the position of the intelligent driving sensor according to the environmental working condition, and applying the corresponding calibration file. In this way, the position of the intelligent driving sensor can be automatically adjusted according to the environment working condition of vehicle driving, the stability and reliability of an automatic driving system are remarkably improved, and the problem that in the prior art, the quality of data collected by the intelligent driving sensor is low in some specific scenes is solved.

Description

Technical Field

[0001] The present application relates to the technical field of adjusting the position of an intelligent driving sensor, and more specifically, to a method, device, computer-readable storage medium, and electronic device for adjusting the position of an intelligent driving sensor with adaptive height adjustment. Background Art

[0002] With the testing and promotion of self-driving cars on public roads, sensors, as an important way for vehicles to perceive the environment, have higher and higher performance requirements. Self-driving cars have high requirements for the accuracy of environmental perception. Whether the signal is normal or not is directly related to the calculation results of the self-driving system, which in turn affects driving safety. During the installation process of the sensor, due to machining and installation errors, the sensor installation position is not ideal, which in turn affects the quality of the sensor signal. Therefore, how to better understand sensor data and improve sensor performance is the focus of current self-driving car research and development.

[0003] With existing technologies, when facing rainy days, especially heavy rain, and congested roads, especially those blocked by large vehicles, the intelligent driving sensors are installed in a fixed position, have clear detection boundaries, limited sensing distance and blind spots, and rain falls on the car body and bounces off it before splashing onto the sensor surface, causing secondary or even tertiary effects on the sensor data, greatly reducing the quality of sensor data and leading to the problem of low quality of data collected by intelligent driving sensors. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, computer-readable storage medium and electronic device for adjusting the position of an intelligent driving sensor with adaptive height adjustment, so as to at least solve the problem of low quality of data collected by the intelligent driving sensor in certain specific scenarios in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for adjusting the position of an intelligent driving sensor with adaptive height adjustment is provided, including: determining multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and performing external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each intelligent driving sensor to obtain a calibration file of the intelligent driving sensor; during the automatic driving driving of the vehicle, obtaining the original data collected by each intelligent driving sensor, and determining the data quality of the intelligent driving sensor based on the original data, and determining the current driving environmental condition of the vehicle at least based on the data quality and the original data; adjusting the position of the intelligent driving sensor according to the environmental conditions, and applying the corresponding calibration file.

[0006] Optionally, the raw data collected by each of the intelligent driving sensors is obtained, and the data quality of the intelligent driving sensor is determined based on the raw data, including: when the intelligent driving sensor is a camera, obtaining each frame of pixel data collected by the camera; determining the number of frames in which the number of key feature pixels in each frame of pixel data within a preset time period is lower than a pixel threshold; when the number of frames is greater than a first set number of frames, determining that the data quality of the camera does not meet the standard.

[0007] Optionally, after determining that the data quality of the camera does not meet the standard, the method also includes: identifying the environmental conditions in which the vehicle is currently driving based on the original data collected by each of the intelligent driving sensors; determining a target calibration file corresponding to the environmental conditions, adjusting the position of the camera according to the environmental conditions, and calibrating the parameters of the camera using the target calibration file.

[0008] Optionally, the raw data collected by each of the intelligent driving sensors is obtained, and the data quality of the intelligent driving sensor is determined based on the raw data, including: when the intelligent driving sensor is a laser radar, obtaining each frame of point cloud data collected by the laser radar; determining the number of frames in which the confidence of each frame of point cloud data within a preset time period is lower than a preset confidence; when the number of frames is greater than a second set number of frames, determining that the data quality of the laser radar does not meet the standard.

[0009] Optionally, multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions are determined, including: determining the installation position of each intelligent driving sensor based on a variety of vehicle driving road conditions information and different weather environments, and determining multiple relative vehicle body heights of each intelligent driving sensor based on road congestion and obstruction conditions and different weather conditions; determining the position data based on the installation position and the relative vehicle body height of each intelligent driving sensor.

[0010] Optionally, the current driving environmental condition of the vehicle is determined at least based on the data quality and the original data, including: obtaining weather forecast information and road congestion information of the vehicle's current driving area; determining the current driving environmental condition of the vehicle based on the weather forecast information, road congestion information, the data quality and the original data.

[0011] Optionally, a telescopic device is installed at the bottom of each intelligent driving sensor for adjusting the position of the intelligent driving sensor. Each intelligent driving sensor is also equipped with a sensor cleaning device, which includes a jet device and / or a water spray device.

[0012] According to another aspect of the present application, a device for adjusting the position of an intelligent driving sensor with adaptive height adjustment is provided, comprising: a calibration processing unit, used to determine multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and perform external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each intelligent driving sensor to obtain a calibration file of the intelligent driving sensor, wherein the intelligent driving sensor includes a laser radar and a camera; a determination unit, used to obtain the raw data collected by each of the intelligent driving sensors during the automatic driving driving of the vehicle, and determine the data quality of the intelligent driving sensor according to the raw data, and determine the current driving environmental condition of the vehicle according to the data quality and the raw data; an adjustment unit, used to adjust the position of the intelligent driving sensor according to the environmental condition, and apply the corresponding calibration file.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the methods for adjusting the position of the intelligent driving sensor with adaptive height adjustment.

[0014] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for adjusting the position of an intelligent driving sensor for adaptively adjusting the height to execute any one of the above-described methods.

[0015] By applying the technical solution of the present application, multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions are determined, and external parameter calibration processing is performed on the intelligent driving sensor according to the multiple position data of each intelligent driving sensor to obtain the calibration file of the intelligent driving sensor; during the automatic driving driving process of the vehicle, the original data collected by each intelligent driving sensor is obtained, and the data quality of the intelligent driving sensor is determined according to the original data, and the current driving environmental conditions of the vehicle are determined at least according to the data quality and the original data; the position of the intelligent driving sensor is adjusted according to the environmental conditions and the calibration file. In this way, the position of the intelligent driving sensor can be automatically adjusted according to the environmental conditions of the vehicle, ensuring that the intelligent driving sensor can maintain the best working state under various conditions, thereby significantly improving the stability and reliability of the automatic driving system, avoiding the occlusion and contamination problems caused by the fixed installation position of the intelligent driving sensor, and enhancing the perception ability of the intelligent driving vehicle in complex environments. The problem of low quality of data collected by intelligent driving sensors in certain specific scenarios in the prior art is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for performing a method for adjusting the position of an intelligent driving sensor for adaptively adjusting height provided in an embodiment of the present application is shown;

[0018] Figure 2 A schematic flow chart of a method for adjusting the position of an intelligent driving sensor with adaptive height adjustment provided in accordance with an embodiment of the present application is shown;

[0019] Figure 3 A schematic diagram of a flow chart of a method for adjusting the position of a smart driving sensor for adaptively adjusting height provided in accordance with an embodiment of the present application is shown;

[0020] Figure 4 A schematic diagram of a process of switching the height of the intelligent driving sensor position provided in accordance with an embodiment of the present application is shown;

[0021] Figure 5 A structural block diagram of a device for adjusting the position of an intelligent driving sensor with adaptive height adjustment provided in accordance with an embodiment of the present application is shown.

[0022] The above drawings include the following reference numerals:

[0023] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings 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 ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] As introduced in the background technology, the quality of data collected by intelligent driving sensors in the prior art is low in certain specific scenarios. In order to solve the problem of low quality of data collected by intelligent driving sensors in the prior art in certain specific scenarios, the embodiments of the present application provide a method, device, computer-readable storage medium and electronic device for adjusting the position of an intelligent driving sensor with adaptive height adjustment.

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal of an embodiment of the present invention for a method for adjusting the position of a smart driving sensor with adaptive height adjustment. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0030] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for adjusting the position of the intelligent driving sensor with adaptive height adjustment in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0031] In this embodiment, a method for adjusting the position of an intelligent driving sensor with adaptive height adjustment running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0032] Figure 2 1 is a flow chart of a method for adjusting the position of a smart driving sensor for adaptively adjusting height according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0033] Step S201, determining multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and performing external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each of the intelligent driving sensors to obtain a calibration file of the intelligent driving sensor;

[0034] Among them, intelligent driving sensors include lidar and / or cameras.

[0035] Sensor external parameter calibration refers to the calibration and adjustment of external parameters such as the installation position, posture, and environmental conditions of the sensor to ensure that the sensor can accurately obtain and process the required information. External parameters usually include the position, orientation, deformation, temperature and other parameters of the sensor. External parameter calibration can improve the accuracy and stability of the sensor, thereby obtaining target information more accurately.

[0036] The following steps can be used to calibrate multiple sets of position external parameters:

[0037] Step 1: Classify the traffic congestion level into: 1) drivable; 2) blocked; (the classification can be flexible and the above categories are not mandatory);

[0038] Step 2: Classify weather conditions into: 1) heavy rain; 2) heavy rain; 3) moderate rain; 4) light rain; (For specific classification of rainfall values, please refer to the rainfall classification regulations of the meteorological website);

[0039] Step 3: Classify and arrange the above scenes, and calibrate the sensor for each scene;

[0040] Step 4: Taking "Road Condition = Driving" && "Weather = Heavy Rain" as an example, on the test road, use a spare vehicle and a water spray device to simulate road conditions and heavy rain scenes, change the sensor position, use calibration objects and measuring devices, and complete the calibration data collection and calibration parameter calculation of the autonomous driving vehicle. Change the position and calibrate the parameters multiple times to select the best position of the sensor viewing angle. The above position and corresponding calibration parameters are the corresponding positions and calibration parameters under this scenario ("Road Condition = Driving" && "Weather = Heavy Rain"), and the calibration file under this scenario is obtained.

[0041] Step S202, during the automatic driving process of the vehicle, obtaining raw data collected by each of the intelligent driving sensors, and determining the data quality of the intelligent driving sensors based on the raw data, and determining the current driving environment condition of the vehicle at least based on the data quality and the raw data;

[0042] Specifically, the correspondence between the data quality of the intelligent driving sensor, historical raw data information and environmental conditions can be pre-built. During the vehicle's autonomous driving process, the current driving environmental conditions can be identified based on the raw data of the intelligent driving sensor and the data quality corresponding to the raw data.

[0043] Step S203: adjust the position of the intelligent driving sensor according to the environmental conditions, and apply the corresponding calibration file.

[0044] Among them, the corresponding calibration file is applicable to adjust the parameters of the above-mentioned intelligent driving sensor using the calibration file corresponding to the environmental conditions, so that the intelligent driving sensor can work normally after the height is adjusted.

[0045] Specifically, the intelligent prejudgment and prediction system can predict weather or road condition changes that may affect the quality of sensor data in advance, allowing the autonomous vehicle to adjust the sensor height before the harsh environment arrives to avoid a sudden drop in data quality, thereby improving the environmental adaptability and safety of the autonomous vehicle. This proactive environmental response strategy can more effectively prevent potential perception errors and reduce the risk of accidents compared to passive adjustments.

[0046] Through this embodiment, multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions are determined, and the intelligent driving sensor is calibrated with external parameters according to the multiple position data of each intelligent driving sensor to obtain the calibration file of the intelligent driving sensor; during the automatic driving process of the vehicle, the original data collected by each intelligent driving sensor is obtained, and the data quality of the intelligent driving sensor is determined according to the original data, and at least the current driving environmental conditions of the vehicle are determined according to the data quality and the original data; the position of the intelligent driving sensor is adjusted according to the environmental conditions, and the corresponding calibration file is applied. In this way, the position of the intelligent driving sensor can be automatically adjusted according to the environmental conditions of the vehicle, ensuring that the intelligent driving sensor can maintain the best working state under various conditions, thereby significantly improving the stability and reliability of the automatic driving system, avoiding the problems of occlusion and contamination caused by the fixed installation position of the intelligent driving sensor, and enhancing the perception ability of the intelligent driving vehicle in complex environments. The problem of low quality of data collected by intelligent driving sensors in certain specific scenarios in the prior art is solved.

[0047] During the specific implementation process, the raw data collected by each of the above-mentioned intelligent driving sensors is obtained, and the data quality of the above-mentioned intelligent driving sensors is determined based on the above-mentioned raw data, including: when the above-mentioned intelligent driving sensor is a camera, obtaining each frame of pixel data collected by the above-mentioned camera; determining the number of frames in which the number of key feature pixels in the above-mentioned each frame of pixel data within a preset time period is lower than the pixel threshold; when the above-mentioned frame number is greater than the first set frame number, determining that the above-mentioned data quality of the above-mentioned camera does not meet the standard.

[0048] Among them, the preset time period can be set to 1s, the first set frame number can be set to 10 frames, and the pixel threshold can be set according to the driving requirements of autonomous driving. For example, the camera collects 50 frames of pixel data in 1s, and there are greater than or equal to 10 frames within 1s whose key feature pixels are lower than the pixel threshold, and the camera data quality is considered to be substandard.

[0049] By monitoring the number of key feature pixels of the camera, this method can promptly detect whether the camera is blocked or damaged, thereby ensuring the clarity and recognition ability of the camera in harsh environments such as rain, fog, and dust, and improving the visual perception level of autonomous driving vehicles.

[0050] Specifically, after determining that the data quality of the above-mentioned camera does not meet the standard, the above-mentioned method also includes: identifying the above-mentioned environmental conditions under which the above-mentioned vehicle is currently driving based on the original data collected by each of the above-mentioned intelligent driving sensors; determining the target calibration file corresponding to the above-mentioned environmental conditions, and adjusting the position of the above-mentioned camera according to the above-mentioned environmental conditions, and using the above-mentioned target calibration file to calibrate the parameters of the above-mentioned camera.

[0051] This dynamic adjustment mechanism can adjust the angle and height of the camera according to real-time environmental changes, and optimize the camera parameters through online calibration to ensure that the camera can provide accurate image information under different lighting and weather conditions. It is suitable for a variety of environmental conditions such as daytime, nighttime, sunny, cloudy, rainy, snowy, and traffic jams.

[0052] In addition, after adjusting the position of the intelligent driving sensor, the present solution calibrates the parameters of the intelligent driving sensor (camera and / or lidar) including: online calibration and offline calibration; the present solution can first use online calibration to calibrate the parameters of the sensor. If the online calibration fails, the offline calibration can be used to calibrate the parameters of the sensor. The online calibration and offline calibration of the present solution are redundant calibration methods, which ensure that the parameters of the intelligent driving sensor can be calibrated normally after the position of the intelligent driving sensor is changed during normal driving of the vehicle, thereby improving the safety of autonomous driving.

[0053] Online calibration: According to the position and collected data of the intelligent driving sensor to be calibrated, the online calibration algorithm is used to calculate the parameters of the intelligent driving sensor to be calibrated. The parameters of the intelligent driving sensor to be calibrated are calibrated online according to the calculated parameters, and the parameters calculated by the online calibration algorithm are written into the new calibration file for direct selection of subsequent intelligent driving sensor parameter calibration;

[0054] Offline calibration: Use the calibration file corresponding to the environmental conditions and the position of the intelligent driving sensor to perform offline calibration on the parameters of the intelligent driving sensor.

[0055] Furthermore, the raw data collected by each of the above-mentioned intelligent driving sensors is obtained, and the data quality of the above-mentioned intelligent driving sensors is determined based on the above-mentioned raw data, including: when the above-mentioned intelligent driving sensor is a laser radar, obtaining each frame of point cloud data collected by the above-mentioned laser radar; determining the number of frames in which the confidence of the above-mentioned each frame of point cloud data within a preset time period is lower than a preset confidence; when the above-mentioned frame number is greater than a second set frame number, determining that the above-mentioned data quality of the above-mentioned laser radar does not meet the standard.

[0056] Among them, the preset time period can be set to 1s, the second set number of frames can be set to 10 frames, and the preset confidence can be set according to the driving requirements of autonomous driving. For example, the laser radar collects 50 frames of point cloud data in 1s, and there are more than or equal to 10 frames of point cloud data within 1s whose confidence is lower than the preset confidence level of point cloud data, and the data quality of the laser radar is considered to be substandard.

[0057] By monitoring the confidence of the lidar's point cloud data, this method can effectively identify whether the lidar is interfered with or blocked, ensuring that the autonomous driving vehicle can accurately perceive the surrounding environment under complex road conditions, thereby improving the vehicle's obstacle avoidance capabilities and driving safety.

[0058] Specifically, multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions are determined, including: determining the installation position of each of the above-mentioned intelligent driving sensors based on a variety of vehicle driving road conditions information and different weather environments, and determining multiple relative vehicle body heights of each of the above-mentioned intelligent driving sensors based on road congestion and obstruction conditions and different weather conditions; determining the above-mentioned position data based on the above-mentioned installation position and the above-mentioned relative vehicle body height of each of the above-mentioned intelligent driving sensors.

[0059] This method is based on the sensor position optimization strategy of environmental conditions, which can ensure that the sensor can be in the best sensing position under different road conditions and weather conditions. It is suitable for various driving scenarios such as urban congestion, rural roads, rainy and snowy weather, and can effectively improve the environmental adaptability of autonomous driving vehicles.

[0060] More specifically, the current driving environmental conditions of the vehicle are determined at least based on the data quality and the original data, including: obtaining weather forecast information and road congestion information of the vehicle's current driving area; determining the current driving environmental conditions of the vehicle based on the weather forecast information, road congestion information, the data quality and the original data.

[0061] By comprehensively analyzing weather forecasts and road congestion information and combining it with sensor data quality assessment, the vehicle's driving environment can be accurately judged, providing a basis for adjusting sensor positions and parameters. This is suitable for a variety of application scenarios, such as intelligent transportation systems and autonomous driving fleet management.

[0062] Furthermore, a telescopic device is installed at the bottom of each of the above-mentioned intelligent driving sensors for adjusting the position of the above-mentioned intelligent driving sensors. Each of the above-mentioned intelligent driving sensors is also equipped with a sensor cleaning device, and the above-mentioned sensor cleaning device includes a jet device and / or a water spray device.

[0063] This method and design can not only realize the adaptive adjustment of the sensor position, but also remove dust and water droplets on the sensor surface through the cleaning device to ensure the long-term stable operation of the sensor. It is suitable for daily maintenance of autonomous driving vehicles and emergency handling in harsh environments, and effectively reduces system failures caused by improper sensor maintenance. It ensures that the sensor can continue to provide high-quality perception data in various environments. This not only improves the reliability of autonomous driving, but also reduces the need for sensor maintenance and reduces operating costs.

[0064] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the method for adjusting the position of the intelligent driving sensor with adaptive height adjustment of the present application will be described in detail below in combination with specific embodiments.

[0065] This embodiment relates to a specific method for adjusting the position of an intelligent driving sensor with adaptive height adjustment, which mainly includes four parts: an intelligent driving sensor group, a perception sensor data quality analysis module, a retractable sensor base total control module, and an intelligent driving sensor calibration module. Figure 3 As shown, it specifically includes the following contents:

[0066] 1) Intelligent driving sensor group: The main types of sensors are cameras and lidar. There is no limit on the number of sensors, and they can be flexibly configured according to the adapted vehicle model and redundancy requirements.

[0067] 2) Perception sensor data quality analysis module: Receives environmental data captured by the sensor in each frame, analyzes and determines whether the data quality is abnormal and the cause of the abnormality. If the abnormality is caused by obstruction by close objects in front or the influence of water droplets in rainy days, the sensor layout height adjustment requirement will be issued.

[0068] 3) Retractable sensor base control module: accepts the "sensor layout height adjustment requirement" issued by the "perception sensor data quality analysis module", controls the base retractable device to adjust the relative distance between the sensor and the vehicle body surface, and has high precision and high stability.

[0069] 4) Intelligent driving sensor calibration module: calibrate the sensor parameters online according to the different layout heights and positions of the sensors. If the online calibration fails, the offline calibration parameters are enabled.

[0070] The specific steps for adjusting the position of the intelligent driving sensor for adaptive height adjustment include:

[0071] Step S1: Multiple sensor positions have completed external parameter calibration:

[0072] Real road conditions and weather tests are carried out to determine the sensor installation locations. Based on the road congestion and obstruction conditions and different rainfall conditions, the relative heights of multiple sets of sensors are determined. The sensor external parameter calibration is completed and several sets of calibration files are all stored in the autonomous driving vehicle domain control.

[0073] Step S2: Determine the sensor position switching requirement:

[0074] like Figure 4 As shown in the figure, during the autonomous driving process, the raw data collected by the camera and lidar are sent to the sensor data quality analysis module. The sensor data quality analysis module determines the reason why the current sensor data quality does not meet the standard based on conditions such as image data clarity, point cloud data integrity, weather conditions, and road congestion. If the analysis result shows that the sensor data quality is low due to rain or congestion, it is determined that there is a need to switch the sensor installation height, and the sensor data quality analysis module issues a "high-speed switching instruction for one or several sensors". Among them, the environmental data of rainy days and front occlusions are accumulated, and the data distribution characteristics are analyzed. After the autonomous driving online system receives the raw sensor data, it accurately determines whether there is a need to raise the sensor installation position at the current moment based on the data distribution characteristics.

[0075] Step S3: Switch the sensor height position:

[0076] The retractable sensor base master control module receives the "switching command for one or several sensor installation heights", controls the corresponding sensor base retractable device to switch to the corresponding position, and feeds back the current "sensor installation height" to the sensor calibration module. During the service life of the vehicle, the sensor retractable device must be stable and high-precision; during driving, the vehicle is inevitably subject to vibration, and the sensor retractable device also needs to maintain high-precision stability to prevent position slippage.

[0077] Step S4: Sensor calibration update:

[0078] The sensor calibration module receives the "sensor installation position", checks the installation height corresponding to the calibration parameters currently used, determines the need to update the sensor calibration parameters, collects calibration images, point clouds and other data online, recalculates the calibration parameters and writes them to the calibration file, controls the restart of the autonomous driving system, and makes the new calibration file effective. Among them, the calibration parameter switching, especially the online calibration, switches or calibrates the sensor external parameters online according to the current sensor installation position, so that the data after the sensor update position can still be smoothly connected to the autonomous driving perception system.

[0079] In the embodiment of the present application, when facing rainy days, especially heavy rain, and congested roads, especially those blocked by large vehicles, the autonomous driving vehicle can continue to complete the autonomous driving journey by adjusting the sensor layout position and switching calibration parameters, thereby expanding the applicable scenarios and safety of autonomous driving.

[0080] The specific adaptive height-adjusting intelligent driving sensor position adjustment scheme proposed in this application can not only automatically adjust the sensor position according to the environmental conditions of the vehicle, ensuring that the sensor can maintain the best working state under various conditions, thereby significantly improving the stability and reliability of the autonomous driving system, but also can monitor the data quality of the sensor in real time, combined with weather forecasts and road congestion, to intelligently adjust the height and cleanliness of the sensor, avoiding the occlusion and contamination problems caused by the fixed installation position, and enhancing the perception ability of the intelligent driving vehicle in complex environments. In addition, through online calibration processing, the sensor parameters can be corrected in time, further improving the accuracy and safety of autonomous driving, and providing strong technical support for the popularization and application of intelligent driving technology. The application of this solution will effectively promote the commercialization of autonomous driving technology and lay a solid foundation for the construction and development of intelligent transportation systems. In the future, it is expected to play an important role in public transportation, logistics distribution, personal travel and other fields, greatly improving the travel efficiency and safety of society.

[0081] The embodiment of the present application also provides a device for adjusting the position of an intelligent driving sensor for adaptively adjusting the height. It should be noted that the device for adjusting the position of an intelligent driving sensor for adaptively adjusting the height of the embodiment of the present application can be used to execute the method for adjusting the position of an intelligent driving sensor for adaptively adjusting the height provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and those that have been described will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0082] The following introduces the device for adjusting the position of the intelligent driving sensor with adaptive height adjustment provided in an embodiment of the present application.

[0083] Figure 5 Schematic diagram of an adjustment device for the position of an intelligent driving sensor for adaptively adjusting height according to an embodiment of the present application. Figure 5 As shown, the device comprises:

[0084] A calibration processing unit 51 is used to determine a plurality of position data of each intelligent driving sensor of the vehicle under different environmental conditions, and perform external parameter calibration processing on the intelligent driving sensor according to the plurality of position data of each intelligent driving sensor to obtain a calibration file of the intelligent driving sensor, wherein the intelligent driving sensor includes a laser radar and a camera;

[0085] A determination unit 52 is used to obtain the raw data collected by each of the above-mentioned intelligent driving sensors during the automatic driving of the above-mentioned vehicle, and determine the data quality of the above-mentioned intelligent driving sensors according to the above-mentioned raw data, and determine the current driving environment condition of the above-mentioned vehicle according to the above-mentioned data quality and the above-mentioned raw data;

[0086] The adjustment unit 53 is used to adjust the position and parameters of the above-mentioned intelligent driving sensor according to the above-mentioned environmental conditions, and apply the corresponding above-mentioned calibration file.

[0087] In this embodiment, the calibration processing unit is used to determine multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and perform external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each intelligent driving sensor to obtain the calibration file of the intelligent driving sensor, wherein the intelligent driving sensor includes a laser radar and a camera; the determination unit is used to obtain the original data collected by each intelligent driving sensor during the vehicle's automatic driving driving process, and determine the data quality of the intelligent driving sensor according to the original data, and determine the current driving environment of the vehicle according to the data quality and the original data; the adjustment unit is used to adjust the position and parameters of the intelligent driving sensor according to the environmental conditions, and apply the corresponding calibration file. In this way, the position of the intelligent driving sensor can be automatically adjusted according to the environmental conditions of the vehicle, ensuring that the intelligent driving sensor can maintain the best working state under various conditions, thereby significantly improving the stability and reliability of the automatic driving system, avoiding the occlusion and contamination problems caused by the fixed installation position of the intelligent driving sensor, and enhancing the perception ability of the intelligent driving vehicle in a complex environment. The problem of low quality of data collected by the intelligent driving sensor in certain specific scenarios in the prior art is solved.

[0088] As an optional scheme, the determination unit includes a first acquisition module, a first determination module and a second determination module; the first acquisition module is used to obtain each frame of pixel data collected by the above-mentioned camera when the above-mentioned intelligent driving sensor is a camera; the first determination module is used to determine the number of frames in which the number of key feature pixels in the above-mentioned each frame of pixel data is lower than the pixel threshold within a preset time period; the second determination module is used to determine that the data quality of the above-mentioned camera does not meet the standard when the above-mentioned frame number is greater than the first set frame number.

[0089] In an optional scheme, the determination unit also includes an identification module and an online calibration processing module; the identification module is used to identify the current environmental conditions of the vehicle according to the original data collected by each of the above-mentioned intelligent driving sensors after determining that the data quality of the above-mentioned camera does not meet the standards; the online calibration processing module is used to determine the target calibration file corresponding to the above-mentioned environmental conditions, adjust the position of the above-mentioned camera according to the above-mentioned environmental conditions, and use the above-mentioned target calibration file to calibrate the parameters of the above-mentioned camera.

[0090] In an optional scheme, the determination unit also includes a second acquisition module, a third determination module and a fourth determination module; the second acquisition module is used to obtain each frame of point cloud data collected by the above-mentioned laser radar when the above-mentioned intelligent driving sensor is a laser radar; the third determination module is used to determine the number of frames in which the confidence of the above-mentioned each frame of point cloud data within a preset time period is lower than the preset confidence; the fourth determination module is used to determine that the quality of the above-mentioned data of the above-mentioned laser radar does not meet the standard when the above-mentioned frame number is greater than the second set frame number.

[0091] An optional scheme, the calibration processing unit includes a fifth determination module and a sixth determination module; the fifth determination module is used to determine the installation position of each of the above-mentioned intelligent driving sensors according to a variety of vehicle driving road conditions information and different weather environments, and to determine multiple relative vehicle body heights of each of the above-mentioned intelligent driving sensors according to road congestion and obstruction conditions and different weather conditions; the sixth determination module is used to determine the above-mentioned position data according to the above-mentioned installation position of each of the above-mentioned intelligent driving sensors and the above-mentioned relative vehicle body height.

[0092] An optional scheme, the determination unit includes a third acquisition module and a seventh determination module; the third acquisition module is used to obtain weather forecast information and road congestion information of the current driving area of ​​the above-mentioned vehicle; the seventh determination module is used to determine the above-mentioned environmental conditions of the current driving of the above-mentioned vehicle based on the above-mentioned weather forecast information, road congestion information, the above-mentioned data quality and the above-mentioned original data.

[0093] An optional solution is that a telescopic device is installed at the bottom of each of the above-mentioned intelligent driving sensors to adjust the position of the above-mentioned intelligent driving sensors. Each of the above-mentioned intelligent driving sensors is also equipped with a sensor cleaning device, and the above-mentioned sensor cleaning device includes a jet device and / or a water spray device.

[0094] The above-mentioned device for adjusting the position of the intelligent driving sensor with adaptive height adjustment includes a processor and a memory. The above-mentioned calibration processing unit, determination unit, adjustment unit, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in any combination.

[0095] The processor contains a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set to solve the problem of low quality of data collected by intelligent driving sensors in certain specific scenarios in the existing technology by adjusting kernel parameters.

[0096] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0097] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program. When the program is running, the device where the computer-readable storage medium is located is controlled to execute the method for adjusting the position of the intelligent driving sensor with adaptive height adjustment.

[0098] Specifically, the method for adjusting the position of the intelligent driving sensor for adaptively adjusting the height includes:

[0099] Step S201, determining multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and performing external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each of the intelligent driving sensors to obtain a calibration file of the intelligent driving sensor;

[0100] Step S202, during the automatic driving process of the vehicle, obtaining raw data collected by each of the intelligent driving sensors, and determining the data quality of the intelligent driving sensors based on the raw data, and determining the current driving environment condition of the vehicle at least based on the data quality and the raw data;

[0101] Step S203: adjust the position of the intelligent driving sensor according to the environmental conditions, and apply the corresponding calibration file.

[0102] An embodiment of the present invention provides a processor, which is used to run a program, wherein the method for adjusting the position of the intelligent driving sensor for adaptively adjusting the height is executed when the program is running.

[0103] Specifically, the method for adjusting the position of the intelligent driving sensor for adaptively adjusting the height includes:

[0104] Step S201, determining multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and performing external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each of the intelligent driving sensors to obtain a calibration file of the intelligent driving sensor;

[0105] Step S202, during the automatic driving process of the vehicle, obtaining raw data collected by each of the intelligent driving sensors, and determining the data quality of the intelligent driving sensors based on the raw data, and determining the current driving environment condition of the vehicle at least based on the data quality and the raw data;

[0106] Step S203: adjust the position of the intelligent driving sensor according to the environmental conditions, and apply the corresponding calibration file.

[0107] An embodiment of the present invention provides an electronic device, the device comprising a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0108] Step S201, determining multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and performing external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each of the intelligent driving sensors to obtain a calibration file of the intelligent driving sensor;

[0109] Step S202, during the automatic driving process of the vehicle, obtaining raw data collected by each of the intelligent driving sensors, and determining the data quality of the intelligent driving sensors based on the raw data, and determining the current driving environment condition of the vehicle at least based on the data quality and the raw data;

[0110] Step S203: adjust the position of the intelligent driving sensor according to the environmental conditions, and apply the corresponding calibration file.

[0111] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0112] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0113] Step S201, determining multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and performing external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each of the intelligent driving sensors to obtain a calibration file of the intelligent driving sensor;

[0114] Step S202, during the automatic driving process of the vehicle, obtaining raw data collected by each of the intelligent driving sensors, and determining the data quality of the intelligent driving sensors based on the raw data, and determining the current driving environment condition of the vehicle at least based on the data quality and the raw data;

[0115] Step S203: adjust the position of the intelligent driving sensor according to the environmental conditions, and apply the corresponding calibration file.

[0116] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0117] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0118] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0119] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0120] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0121] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0122] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0123] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0124] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0125] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0126] 1) A method for adjusting the position of an intelligent driving sensor with adaptive height adjustment of the present application includes: determining multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and performing external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each intelligent driving sensor to obtain the calibration file of the intelligent driving sensor; during the vehicle's automatic driving driving process, obtaining the original data collected by each intelligent driving sensor, and determining the data quality of the intelligent driving sensor based on the original data, at least determining the current driving environment of the vehicle based on the data quality and the original data; adjusting the position of the intelligent driving sensor according to the environmental conditions and the calibration file. In this way, the position of the intelligent driving sensor can be automatically adjusted according to the environmental conditions of the vehicle, ensuring that the intelligent driving sensor can maintain the best working state under various conditions, thereby significantly improving the stability and reliability of the automatic driving system, avoiding the problems of occlusion and contamination caused by the fixed installation position of the intelligent driving sensor, and enhancing the perception ability of the intelligent driving vehicle in complex environments. It solves the problem of low quality of data collected by intelligent driving sensors in certain specific scenarios in the prior art.

[0127] 2) The present application discloses an adaptive height-adjustable intelligent driving sensor position adjustment device, comprising: a calibration processing unit, used to determine multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and to perform external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each intelligent driving sensor, to obtain the calibration file of the intelligent driving sensor, wherein the intelligent driving sensor includes a laser radar and a camera; a determination unit, used to obtain the raw data collected by each intelligent driving sensor during the vehicle's automatic driving driving process, and to determine the data quality of the intelligent driving sensor according to the raw data, and at least to determine the current driving environmental conditions of the vehicle according to the data quality and the raw data; an adjustment unit, used to adjust the position and parameters of the intelligent driving sensor according to the environmental conditions and the calibration file. In this way, the position of the intelligent driving sensor can be automatically adjusted according to the environmental conditions of the vehicle, ensuring that the intelligent driving sensor can maintain the best working state under various conditions, thereby significantly improving the stability and reliability of the automatic driving system, avoiding the problems of occlusion and contamination caused by the fixed installation position of the intelligent driving sensor, and enhancing the perception ability of the intelligent driving vehicle in complex environments. The problem of low quality of data collected by intelligent driving sensors in certain specific scenarios in the prior art is solved.

[0128] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for adjusting the position of an intelligent driving sensor with adaptive height adjustment, characterized in that: include: Determine multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, and perform external parameter calibration processing on the intelligent driving sensor according to the multiple position data of each intelligent driving sensor to obtain a calibration file of the intelligent driving sensor; During the automatic driving of the vehicle, raw data collected by each of the intelligent driving sensors is obtained, and data quality of the intelligent driving sensors is determined based on the raw data, and the current driving environment condition of the vehicle is determined at least based on the data quality and the raw data; Adjust the position of the intelligent driving sensor according to the environmental conditions and apply the corresponding calibration file.

2. The method according to claim 1, characterized in that Acquiring raw data collected by each of the intelligent driving sensors, and determining data quality of the intelligent driving sensors according to the raw data, including: When the intelligent driving sensor is a camera, obtaining pixel data of each frame collected by the camera; Determine the number of frames in which the number of key feature pixels in each frame of pixel data is lower than a pixel threshold within a preset time period; When the frame number is greater than the first set frame number, it is determined that the data quality of the camera does not meet the standard.

3. The method according to claim 2, characterized in that After determining that the data quality of the camera does not meet the standard, the method further includes: Identify the current driving environment of the vehicle according to the raw data collected by each of the intelligent driving sensors; Determine a target calibration file corresponding to the environmental working condition, adjust the position of the camera according to the environmental working condition, and calibrate the parameters of the camera using the target calibration file.

4. The method according to claim 1, characterized in that: Acquiring raw data collected by each of the intelligent driving sensors, and determining data quality of the intelligent driving sensors according to the raw data, including: When the intelligent driving sensor is a laser radar, obtaining each frame of point cloud data collected by the laser radar; Determine the number of frames in which the confidence level of each frame of point cloud data is lower than a preset confidence level within a preset time period; When the frame number is greater than the second set frame number, it is determined that the data quality of the laser radar does not meet the standard.

5. The method according to claim 1, characterized in that Determine multiple position data of each intelligent driving sensor of the vehicle under different environmental conditions, including: Determine the installation position of each of the intelligent driving sensors according to various vehicle driving road condition information and different weather environments, and determine multiple relative vehicle body heights of each of the intelligent driving sensors according to road congestion and shielding conditions and different weather conditions; The position data is determined according to the installation position of each of the intelligent driving sensors and the relative vehicle body height.

6. The method according to claim 1, characterized in that Determining a current driving environment condition of the vehicle at least based on the data quality and the raw data, including: Obtaining weather forecast information and road congestion information for the area where the vehicle is currently traveling; The environmental condition of the current driving of the vehicle is determined according to the weather forecast information, the road congestion information, the data quality and the original data.

7. The method according to claim 1, characterized in that A telescopic device is installed at the bottom of each intelligent driving sensor for adjusting the position of the intelligent driving sensor. Each intelligent driving sensor is also equipped with a sensor cleaning device, which includes a jet device and / or a water spray device.

8. A device for adjusting the position of an intelligent driving sensor with adaptive height adjustment, characterized in that: include: A calibration processing unit, used to determine a plurality of position data of each intelligent driving sensor of the vehicle under different environmental conditions, and perform external parameter calibration processing on the intelligent driving sensor according to the plurality of position data of each intelligent driving sensor to obtain a calibration file of the intelligent driving sensor, wherein the intelligent driving sensor includes a laser radar and a camera; A determination unit, configured to obtain raw data collected by each of the intelligent driving sensors during the automatic driving of the vehicle, and determine the data quality of the intelligent driving sensors according to the raw data, and determine the current driving environment condition of the vehicle at least according to the data quality and the raw data; An adjustment unit is used to adjust the position and parameters of the intelligent driving sensor according to the environmental conditions and apply the corresponding calibration file.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein, when the program is running, the device where the computer-readable storage medium is located is controlled to execute the method for adjusting the position of the intelligent driving sensor with adaptive height adjustment as described in any one of claims 1 to 7.

10. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for adjusting the position of an intelligent driving sensor for adaptively adjusting height as described in any one of claims 1 to 7.

Images