Camera laser damage prevention method and device

Abstract

The invention provides a camera laser damage prevention method and device. The method comprises the following steps: determining a vehicle type corresponding to a to-be-detected vehicle; determining a damage threshold distance between the vehicle type and a camera independent of the to-be-detected vehicle from a preset threshold set, the threshold set being constructed based on the vehicle type sample and a damage threshold distance sample; and according to the damage threshold distance, anti-laser damage measures are taken for the camera. According to the method, the damage threshold distance corresponding to the vehicle type is determined from the preset threshold set based on the vehicle type corresponding to the vehicle, so that the acquisition efficiency of the damage threshold distance is improved, and the laser damage prevention measure for the camera can be flexibly realized based on the damage threshold distance.

Description

Technical Field

[0001] The present invention relates to the field of electronic technologies, and in particular, to a method and device for preventing a camera from being damaged by laser. Background Art

[0002] With the development of new energy vehicles and intelligent driving technologies, the number of vehicles equipped with lidar is gradually increasing. When a camera independent of the vehicle (such as a detection and shooting device on the street) captures the lidar, sometimes the image sensor of the camera may be burned out due to the excessive energy of the laser. Specifically, since the image sensor of the camera (such as a Complementary Metal-Oxide-Semiconductor (CMOS) sensor and a Charge Coupled Device (CCD) sensor) is more sensitive than the human eye, can capture a wider spectrum of invisible light, and there is no moisture to absorb the laser, high-energy lasers are likely to damage the camera.

[0003] The existing method for preventing a camera from being damaged by laser is to directly install a Neutral Density (ND) optical attenuator on the camera to prevent the camera from being damaged by laser. However, this method is relatively simple, resulting in low flexibility in preventing the camera from being damaged by laser. Summary of the Invention

[0004] The present invention provides a method and device for preventing a camera from being damaged by laser, so as to solve the defect that the existing method for preventing a camera from being damaged by laser is relatively simple, resulting in low flexibility in preventing laser damage. Based on the vehicle model corresponding to the vehicle, the damage threshold distance corresponding to the vehicle model is determined from a preset threshold set, improving the acquisition efficiency of the damage threshold distance. Furthermore, based on the damage threshold distance, the anti-laser damage measures for the camera can be flexibly implemented.

[0005] The present invention provides a method for preventing a camera from being damaged by laser, including:

[0006] Determining the vehicle model corresponding to the vehicle to be tested;

[0007] Determining the damage threshold distance between the vehicle model and a camera independent of the vehicle to be tested from a preset threshold set, where the threshold set is constructed based on vehicle model samples and damage threshold distance samples;

[0008] Taking anti-laser damage measures for the camera according to the damage threshold distance.

[0009] A method for preventing laser damage to a camera according to the present invention, the steps of constructing the threshold set are as follows: determining a vehicle model sample corresponding to a vehicle sample and radar parameters corresponding to a lidar carried by the vehicle model sample; determining a first risk score corresponding to the lidar according to the radar parameters; determining a damage threshold distance sample between the vehicle model sample and a camera independent of the vehicle model sample according to the first risk score; constructing the threshold set according to the vehicle model sample and the damage threshold distance sample.

[0010] A method for preventing laser damage to a camera according to the present invention, the radar parameters include at least one of the following: wavelength, number of lines, sampling rate, irradiation distance, and energy density; the determining a first risk score corresponding to the lidar according to the radar parameters includes: determining a first risk coefficient corresponding to the lidar according to the wavelength; determining a second risk coefficient corresponding to the lidar according to the number of lines; determining a third risk coefficient corresponding to the lidar according to the sampling rate; determining a fourth risk coefficient corresponding to the lidar according to the irradiation distance; determining a fifth risk coefficient corresponding to the lidar according to the energy density; determining a first risk score corresponding to the lidar according to at least one of the first risk coefficient, the second risk coefficient, the third risk coefficient, the fourth risk coefficient, and the fifth risk coefficient.

[0011] A method for preventing laser damage to a camera according to the present invention, the determining a first risk coefficient corresponding to the lidar according to the wavelength includes: determining a wavelength energy corresponding to the lidar according to the wavelength; determining the first risk coefficient according to the wavelength energy; the determining a second risk coefficient corresponding to the lidar according to the number of lines includes: determining a vertical angular resolution corresponding to the lidar according to the number of lines; determining the second risk coefficient according to the vertical angular resolution; the determining a third risk coefficient corresponding to the lidar according to the sampling rate includes: determining an effective acquisition times of the lidar for a target object according to the sampling rate; determining the third risk coefficient according to the effective acquisition times; the determining a fourth risk coefficient corresponding to the lidar according to the irradiation distance includes: determining a target irradiation integral corresponding to the lidar according to the irradiation distance; determining the fourth risk coefficient according to the target irradiation integral.

[0012] A method for preventing laser damage to a camera provided by the present invention, the step of determining a damage threshold distance sample between the vehicle model sample and a camera independent of the vehicle model sample according to the first risk score includes: determining a second risk score corresponding to the vehicle model sample according to the first risk score; determining a lens damage threshold corresponding to the camera; and determining the damage threshold distance sample between the vehicle model sample and the camera independent of the vehicle model sample according to the second risk score and the lens damage threshold.

[0013] A method for preventing laser damage to a camera provided by the present invention, the step of determining a target irradiation integral corresponding to the lidar according to the irradiation distance includes: determining a horizontal shooting angle range of the camera, the horizontal shooting angle range including a first side line and a second side line; determining a first position when the lidar enters the first side line, and determining a second position when the lidar leaves the second side line; determining a third position of the lidar within the horizontal shooting angle range according to the first position and the second position; determining the irradiation distance according to the first position, the second position and the third position, and determining the target irradiation integral corresponding to the lidar according to the irradiation distance.

[0014] A method for preventing laser damage to a camera provided by the present invention, the step of determining the vehicle model corresponding to the vehicle to be tested includes: obtaining the license plate number of the vehicle to be tested; and determining the vehicle model corresponding to the license plate number from a vehicle model library, where the vehicle model library is constructed based on license plate number samples and vehicle model samples.

[0015] A method for preventing laser damage to a camera provided by the present invention, the step of taking laser damage prevention measures for the camera according to the damage threshold distance includes: determining the current distance between the vehicle to be tested and the camera; and taking laser damage prevention measures for the camera when the current distance is less than or equal to the damage threshold distance, where the laser damage prevention measures include adjusting the transparency of a liquid crystal dimming film according to the current distance, or adjusting the transparency of an adjustable neutral density (ND) filter according to the current distance.

[0016] The present invention also provides a device for preventing laser damage to a camera, including:

[0017] A vehicle model determination module for determining the vehicle model corresponding to the vehicle to be tested;

[0018] A damage threshold distance determination module for determining a damage threshold distance between the vehicle model and a camera independent of the vehicle to be tested from a preset threshold set, where the threshold set is constructed based on vehicle model samples and damage threshold distance samples;

[0019] The anti-laser damage module is used to take anti-laser damage measures for the camera according to the damage threshold distance.

[0020] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method for preventing laser damage to a camera as described in any one of the above is implemented.

[0021] The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method for preventing laser damage to a camera as described in any one of the above is implemented.

[0022] The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, the method for preventing laser damage to a camera as described in any one of the above is implemented.

[0023] The method and device for preventing laser damage to a camera provided by the present invention determine the vehicle model corresponding to the vehicle to be tested; determine the damage threshold distance between the vehicle model and the camera independent of the vehicle to be tested from a preset threshold set, and the threshold set is constructed based on vehicle model samples and damage threshold distance samples; take anti-laser damage measures for the camera according to the damage threshold distance. Based on the vehicle model corresponding to the vehicle, the method determines the damage threshold distance corresponding to the vehicle model from the preset threshold set, improves the acquisition efficiency of the damage threshold distance, and then can flexibly implement anti-laser damage measures for the camera based on the damage threshold distance. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a schematic diagram of the camera image after shooting a lidar provided by the prior art;

[0026] Figure 2 It is a schematic diagram of the spectral sensitivity curve provided by the prior art;

[0027] Figure 3 It is a schematic flowchart of the method for preventing laser damage to a camera provided by the present invention;

[0028] Figure 4 It is one of the schematic diagrams of the scene for determining the irradiation distance provided by the present invention;

[0029] Figure 5It is the second schematic diagram of the scene for determining the irradiation distance provided by the present invention;

[0030] Figure 6a It is the third schematic diagram of the scene for determining the irradiation distance provided by the present invention;

[0031] Figure 6b It is the fourth schematic diagram of the scene for determining the irradiation distance provided by the present invention;

[0032] Figure 7a It is a schematic diagram of the laser beam distribution in the vertical direction of a lidar provided by the prior art;

[0033] Figure 7b It is a schematic diagram of some technical parameters of a lidar provided by the prior art;

[0034] Figure 8 It is a schematic diagram of the scene for determining the irradiation integral provided by the present invention;

[0035] Figure 9 It is a schematic diagram of the structure of a liquid crystal dimming film provided by the prior art;

[0036] Figure 10 It is a schematic diagram of an adjustable neutral density filter provided by the prior art;

[0037] Figure 11 It is a schematic diagram of the structure of a camera anti-laser damage device provided by the present invention;

[0038] Figure 12 It is a schematic diagram of the structure of an electronic device provided by the present invention. Detailed implementation manners

[0039] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0040] To better understand the embodiments of the present invention, the background technology will be elaborated in detail first:

[0041] Exemplarily, as Figure 1 shown, it is a schematic diagram of the camera image after photographing a lidar provided by the prior art. As can be seen from Figure 1 , after photographing the lidar, two horizontal and vertical lines are left in the camera image, indicating that the camera is damaged by the lidar.

[0042] Exemplarily, as Figure 2As shown, it is a schematic diagram of the spectral sensitivity curve provided by the prior art. From Figure 2 it can be seen that there are three spectral sensitivity curves, corresponding to CCD, CMOS, and the human eye respectively. Among them, CCD and CMOS are more sensitive to the spectrum than the human eye and can capture invisible light in a wider spectrum.

[0043] It should be noted that the execution subject involved in the embodiments of the present invention can be a camera anti-laser damage device or an electronic device. Optionally, the electronic device may include: a computer, a mobile terminal, a wearable device, etc.

[0044] It should be noted that the vehicle involved in the embodiments of the present invention is a vehicle equipped with a lidar. The lidar involved in the embodiments of the present invention is a vehicle-mounted lidar.

[0045] The embodiments of the present invention will be further described below by taking an electronic device as an example.

[0046] As Figure 3 shown, it is a schematic flowchart of the camera anti-laser damage method provided by the present invention, which may include:

[0047] 301. Determine the vehicle model corresponding to the vehicle to be tested.

[0048] Among them, the vehicle model refers to the model corresponding to the vehicle.

[0049] The electronic device determines the vehicle model corresponding to the vehicle to be tested, so as to subsequently determine the damage threshold distance corresponding to the vehicle model.

[0050] In some embodiments, for the electronic device to determine the vehicle model corresponding to the vehicle to be tested, it may include: the electronic device obtains the license plate number of the vehicle to be tested; the electronic device determines the vehicle model corresponding to the license plate number from the vehicle model library, and the vehicle model library is constructed based on license plate number samples and vehicle model samples.

[0051] Among them, the vehicle model library may include license plate number samples and vehicle model samples corresponding to the license plate number samples.

[0052] The electronic device can use a camera independent of the vehicle to be tested to capture the vehicle to be tested, and identify the license plate number of the vehicle to be tested from the captured image; since the license plate number samples stored in the vehicle model library correspond one-to-one with the vehicle model samples, when the electronic device determines that the license plate number belongs to the vehicle model library, it directly queries the vehicle model corresponding to the license plate number from the vehicle model library, improving the acquisition efficiency of the vehicle model.

[0053] 302. Determine the damage threshold distance between the vehicle model and the camera independent of the vehicle to be tested from a preset threshold set, and the threshold set is constructed based on vehicle model samples and damage threshold distance samples.

[0054] Among them, the threshold set (G distance ) includes vehicle model samples and damage threshold distance samples corresponding to the vehicle model samples.

[0055] The damage threshold distance is used to represent the distance threshold at which the camera is vulnerable to damage from the vehicle's lidar.

[0056] Optionally, the camera independent of the vehicle to be tested can be the camera of a mobile device (such as a mobile phone) or a surveillance camera (such as a barrier camera), and no specific limitation is made here.

[0057] Since the vehicle model samples stored in the threshold set and the damage threshold distance samples are in one-to-one correspondence, when the electronic device determines that the vehicle model belongs to the threshold set, according to the vehicle model corresponding to the vehicle to be tested, it directly determines the damage threshold distance between the vehicle model and the camera from the preset threshold set, that is, queries the damage threshold distance corresponding to the vehicle model from the threshold set, improving the acquisition efficiency of the damage threshold distance. So as to take anti-laser damage measures for the camera subsequently.

[0058] In some embodiments, the steps for constructing the threshold set are as follows: The electronic device determines the vehicle model sample corresponding to the vehicle sample and the radar parameters corresponding to the lidar carried by the vehicle model sample; the electronic device determines the first risk score corresponding to the lidar according to the radar parameters; the electronic device determines the damage threshold distance sample between the vehicle model sample and the camera independent of the vehicle model sample according to the first risk score; the electronic device constructs the threshold set according to the vehicle model sample and the damage threshold distance sample.

[0059] Among them, the radar parameters are used to represent the performance and characteristics related to the lidar.

[0060] The first risk score is used to represent the degree of damage of the lidar to the camera.

[0061] In the process of constructing the threshold set, after the electronic device obtains the vehicle sample, it determines the vehicle model sample corresponding to the vehicle sample and the lidar carried by the vehicle model sample, and then determines the radar parameters corresponding to the lidar; then, the electronic device can determine the first risk score corresponding to the lidar according to the radar parameters, and then determine the damage threshold distance sample between the vehicle model sample and the camera independent of the vehicle model sample; then, the electronic device can construct the threshold set according to the vehicle model sample and the damage threshold distance sample.

[0062] In some embodiments, the radar parameters may include at least one of the following: wavelength, number of lines, sampling rate, irradiation distance, and energy density; the electronic device determines the first risk score corresponding to the lidar according to the radar parameters, which may include: the electronic device determines the first risk coefficient (k corresponding to the lidar according to the wavelength wave); The electronic device determines the second risk coefficient (k corresponding to the lidar according to the number of lines line ); The electronic device determines the third risk coefficient (k corresponding to the lidar according to the sampling rate rate ); The electronic device determines the fourth risk coefficient (k corresponding to the lidar according to the irradiation distance fov ); The electronic device determines the fifth risk coefficient (k corresponding to the lidar according to the energy density power ); The electronic device determines the first risk score corresponding to the lidar according to at least one of the first risk coefficient, the second risk coefficient, the third risk coefficient, the fourth risk coefficient, and the fifth risk coefficient.

[0063] Among them, the wavelength refers to the laser wavelength of the lidar.

[0064] The number of lines refers to the number of laser beams of the lidar.

[0065] The sampling rate refers to the number of times the lidar collects the target object per second.

[0066] The irradiation distance refers to the moving distance of the vehicle carrying the lidar during the process of the lidar irradiating the camera when the lidar can be captured within the shooting angle range of the camera.

[0067] The energy density refers to the energy that the laser beam of the lidar vertically enters from the unit area per unit time. The energy density is usually in joules per square centimeter (J / cm 2 ) as the unit.

[0068] The risk coefficient is used to characterize the correlation between the radar parameters of the lidar and the damage degree of the camera.

[0069] During the process of determining the first risk score corresponding to the lidar, the electronic device can determine the first risk coefficient corresponding to the lidar according to the wavelength corresponding to the lidar; the electronic device can determine the second risk coefficient corresponding to the lidar according to the number of lines corresponding to the lidar; the electronic device can determine the third risk coefficient corresponding to the lidar according to the sampling rate corresponding to the lidar; the electronic device can determine the fourth risk coefficient corresponding to the lidar according to the irradiation distance corresponding to the lidar; the electronic device can determine the fifth risk coefficient corresponding to the lidar according to the energy density corresponding to the lidar. Based on this, the electronic device can determine the first risk score corresponding to the lidar according to at least one of k wave 、k line 、k rate 、k fov and k power .

[0070] Exemplarily, when the radar parameters include wavelength, number of lines, sampling rate, illumination distance, and energy density, the electronic device can obtain k wave , k line , k rate , k fov , and k power , and then determine the first danger score corresponding to the lidar. The first danger score can be calculated using the formula P = ΔP * β1 * k wave * β2 * k line * β3 * k rate * β4 * k fov * β5 * k power ; where P represents the first danger score, ΔP represents the base score, β1 represents the first weight coefficient corresponding to k wave , β2 represents the second weight coefficient corresponding to k line , β3 represents the third weight coefficient corresponding to k rate . β4 represents the fourth weight coefficient corresponding to k fov , and β5 represents the fifth weight coefficient corresponding to k power .

[0071] In addition, during the process of the electronic device determining the fifth danger coefficient k power , the greater the energy density of the lidar, the stronger the illumination of the lidar on the camera, that is, the greater the damage to the camera. Then, the electronic device can determine the fifth danger coefficient k power (k power > 1) according to the correlation between the energy density of the lidar and the damage degree of the camera. That is to say, the greater the energy density of the lidar, the greater the fifth danger coefficient k power .

[0072] It should be noted that the timing of the electronic device determining k wave , k line , k rate , k fov , and k power is not limited.

[0073] In some embodiments, when the electronic device determines the first danger coefficient corresponding to the lidar according to the wavelength, it may include: the electronic device determines the wavelength energy corresponding to the lidar according to the wavelength; the electronic device determines the first danger coefficient according to the wavelength energy.

[0074] During the process of determining the first danger coefficient corresponding to the lidar, the electronic device can determine the wavelength energy corresponding to the lidar according to the laser wavelength and the wavelength energy formula; where the wavelength energy formula is: E represents the wavelength energy corresponding to the lidar, h represents Planck's constant, C represents the speed of light, and λ represents the laser wavelength.

[0075] As can be seen from the above wavelength energy formula, λ is inversely proportional to E. That is, the shorter the laser wavelength, the greater the wavelength energy. The greater the wavelength energy of the laser, the greater the damage to the camera when the laser irradiates the camera. Then, the electronic device can determine the first risk coefficient k according to the correlation between the laser wavelength and the damage degree of the camera wave (k wave > 1). That is to say, the shorter the laser wavelength λ of the lidar, the greater the first risk coefficient k wave is.

[0076] Exemplarily, the laser wavelength of the lidar is usually 905 nm or 1550 nm. The wavelength energy corresponding to the 905 nm laser wavelength is greater than the wavelength energy corresponding to the 1550 nm laser wavelength.

[0077] In some embodiments, the electronic device determines the second risk coefficient corresponding to the lidar according to the number of lines, which may include: the electronic device determines the vertical angular resolution corresponding to the lidar according to the number of lines; the electronic device determines the second risk coefficient according to the vertical angular resolution.

[0078] Among them, the vertical angular resolution refers to the angular spacing between two adjacent ranging points in the vertical field of view of the lidar.

[0079] It should be noted that the field of view (Field Of View, FOV) of the lidar represents the effective scanning angle, and the field of view of the lidar may include the horizontal field of view and the vertical field of view.

[0080] Optionally, the number of lines of the lidar can be 4 lines, 8 lines, 16 lines, 32 lines, 64 lines or 128 lines, etc.

[0081] In the process of determining the second risk coefficient corresponding to the lidar, the electronic device can determine the vertical angular resolution corresponding to the lidar according to the number of lines of the lidar and the vertical angular resolution formula; among them, the vertical angular resolution formula is: ρ represents the vertical angular resolution corresponding to the lidar, θ represents the vertical field of view of the lidar, and s represents the number of lines of the lidar.

[0082] As can be seen from the above vertical angular resolution formula, when θ is the same, s is inversely proportional to ρ. That is, the more the number of lines of the lidar, the lower the vertical angular resolution. The lower the vertical angular resolution, the more laser points are distributed in the unit space in the vertical direction, the stronger the detection ability of the lidar for the target object, the stronger the irradiation of the lidar on the camera, that is, the greater the damage to the camera. Then, the electronic device can determine the second risk coefficient k according to the correlation between the number of lines of the lidar and the damage degree of the camera line (k line> 1). That is to say, the larger the number of lines s of the lidar, the second hazard coefficient k line is larger.

[0083] It should be noted that the distribution of the laser beams in the vertical direction of the lidar is not necessarily uniform, and the vertical angular resolution is generally within a certain range. Therefore, using the number of lines of the lidar as the calculation basis for the second hazard coefficient k line the more lines the lidar has, the lower the average vertical angular resolution, and the stronger the irradiation ability of the lidar.

[0084] In some embodiments, the electronic device determines the third hazard coefficient corresponding to the lidar according to the sampling rate, which may include: the electronic device determines the effective acquisition times of the lidar for the target object according to the sampling rate; the electronic device determines the third hazard coefficient according to the effective acquisition times.

[0085] In the process of determining the third hazard coefficient corresponding to the lidar, the electronic device can determine the effective acquisition times of the lidar for the target object according to the sampling rate corresponding to the lidar, and then determine the third hazard coefficient.

[0086] Specifically, the electronic device can determine the sampling rate corresponding to the lidar according to the sampling rate formula; where the sampling rate formula is: σ represents the sampling rate corresponding to the lidar, θ′ represents the horizontal field of view angle of the lidar, v represents the rotation speed / frame rate, and ρ′ represents the horizontal angular resolution corresponding to the lidar.

[0087] Among them, the frame rate is the scanning frame rate, and the frame rate refers to the scanning frequency of the lidar for the target object, that is, how many times the lidar scans within one second. The frame rate is usually set to be adjustable in gradients. The higher the frame rate, the more times the lidar scans within the same time.

[0088] The horizontal angular resolution refers to the angular interval between two adjacent ranging points in the horizontal field of view angle of the lidar. The lower the horizontal angular resolution of the lidar, the more laser points are distributed in the unit space in the horizontal direction, the stronger the detection ability of the lidar for the target object, the stronger the irradiation of the camera, that is, the greater the damage to the camera.

[0089] For the horizontal direction, assuming that σ1 is the effective acquisition times of the lidar for the target object in each direction (such as an angle of 1° as a direction) per second, σ1 can be expressed as:

[0090] The higher the value of σ1 of the lidar, the more times the lidar effectively collects target objects in each direction per second. At the same time, the more laser points are irradiated in the direction of the camera per second, the stronger the irradiation of the camera, that is, the greater the damage to the camera. Then, the electronic device can determine the third risk factor k according to the correlation between the effective collection times σ1 and the damage degree of the camera. rate (k rate > 1). That is to say, the higher the value of the effective collection times σ1 of the lidar, the third risk factor k rate is greater.

[0091] In some embodiments, the electronic device determines the fourth risk factor corresponding to the lidar according to the irradiation distance, which may include: the electronic device determines the target irradiation integral corresponding to the lidar according to the irradiation distance; the electronic device determines the fourth risk factor according to the target irradiation integral.

[0092] Among them, the target irradiation integral refers to the total irradiation integral within the irradiation distance.

[0093] In the process of determining the fourth risk factor corresponding to the lidar, the electronic device can determine the target irradiation integral corresponding to the lidar according to the irradiation distance, and then determine the fourth risk factor.

[0094] In some embodiments, the electronic device determines the target irradiation integral corresponding to the lidar according to the irradiation distance, which may include: the electronic device determines the horizontal shooting angle range of the camera, and the horizontal shooting angle range includes the first side line and the second side line; the electronic device determines the first position when the lidar enters the first side line and determines the second position when the lidar leaves the second side line; the electronic device determines the third position of the lidar within the horizontal shooting angle range according to the first position and the second position; the electronic device determines the irradiation distance according to the first position, the second position and the third position, and determines the target irradiation integral corresponding to the lidar according to the irradiation distance.

[0095] Among them, the irradiation distance can be represented by L fov to represent.

[0096] Optionally, during the straight-line driving of the vehicle, the first position and the second position are on a straight line, and the above-mentioned third position refers to the position on the straight line where the first position and the second position are located and between the first position and the second position.

[0097] It should be noted that within the irradiation distance L fov the horizontal field of view angle of the lidar coincides with the horizontal shooting angle of the camera.

[0098] Specifically, the horizontal shooting angle of the camera can be represented by α. When the vehicle is driving straight, from the first side line of the horizontal shooting angle range where the lidar enters the camera to the second side line of the horizontal shooting angle range where the lidar leaves the camera. Assume that the first position when the lidar enters the first side line is R1, the second position when the lidar leaves the second side line is R3, and the third position between the first position and the second position is R2, and the three points R1, R2, and R3 are on the same straight line.

[0099] Exemplarily, as Figure 4 shown, it is one of the schematic diagrams of the scenario for determining the irradiation distance provided by the present invention. Figure 4 In it, O represents the installation position of the camera, AO represents the first side line, and BO represents the second side line. As can be seen from Figure 4 it, if the installation position of the camera is always outside the horizontal field of view angle range of the lidar, that is, the camera is always in the blind area of the lidar, then the irradiation distance L fov = 0.

[0100] Exemplarily, as Figure 5 shown, it is the second schematic diagram of the scenario for determining the irradiation distance provided by the present invention. As can be seen from Figure 5 it, if the installation position of the camera is always within the horizontal field of view angle range of the lidar, then the irradiation distance L fov is the distance between R1 and R3, that is, L fov = L R1R3 .

[0101] Exemplarily, as Figure 6a shown, it is the third schematic diagram of the scenario for determining the irradiation distance provided by the present invention. As can be seen from Figure 6a it, if the installation position of the camera is sometimes within the horizontal field of view angle range of the lidar and sometimes outside the horizontal field of view angle range of the lidar, the lidar will irradiate the camera from R1 to R2, and the lidar will not irradiate the camera from R2 to R3, then the irradiation distance L fov is the distance between R1 and R2, that is, L fov = L R1R2 .

[0102] In the case shown in Figure 6a , the electronic device can calculate the distance L between R1 and R2 according to the horizontal field of view angle of the lidar, the horizontal shooting angle of the camera, and the distance between the installation position O of the camera and R1 R1R2 . Exemplarily, in combination with Figure 6a , as Figure 6b shown, it is the fourth schematic diagram of the scenario for determining the irradiation distance provided by the present invention. As can be seen from Figure 6bAs can be seen, the horizontal shooting angle of the camera is α, the included angle between the first side line of the horizontal shooting angle range of the camera and the right side line of the road is β, the horizontal field of view angle of the lidar in the right half of the road is γ, and the distance between the installation position O of the camera and R1 is L OR1 , the irradiation distance L fov is the distance L between R1 and R2 R1R2 . Based on this, the electronic device can perform derivation to obtain to determine L R1R2 ; where π represents the pi

[0103] In addition, the vertical field of view angle of the lidar is different from the horizontal field of view angle. In order to concentrate the laser beam in the middle part of the road, the laser beam is not vertically evenly distributed, but dense in the middle and sparse on both sides. The vertical field of view angle generally has an offset. Since the lidar carried by the vehicle is mainly used to scan the obstacles on the road surface, the laser beam will be offset downward by a certain angle

[0104] Exemplarily, as Figure 7a shown, it is a schematic diagram of the laser beam distribution of the lidar in the vertical direction provided by the prior art. In the figure, the vertical field of view angle range is 40°, the vertical field of view angle above the horizontal line is 15°, and the vertical field of view angle below the horizontal line is -25°. The beam distribution is dense in the middle and sparse on both sides

[0105] Exemplarily, as Figure 7b shown, it is a schematic diagram of some technical parameters of the lidar provided by the prior art. In the figure, the vertical angular resolution is divided into multiple levels, and the vertical angular resolution from -6° to 2° in the middle and lower part is the lowest, and the laser beam distribution is the densest

[0106] Optionally, the electronic device determines the target irradiation integral corresponding to the lidar according to the irradiation distance, which may include: the electronic device samples the irradiation distance to obtain multiple sampling points; the electronic device determines the irradiation integral corresponding to each of the multiple sampling points according to the multiple sampling points and the vertical field of view angle range corresponding to the lidar; the electronic device determines the target irradiation integral corresponding to the lidar according to the irradiation integral corresponding to each of the multiple sampling points

[0107] Based on the calculated irradiation distance L fov , the electronic device samples the irradiation distance, that is, within the irradiation distance, a sampling point is divided every certain distance. Assuming that a total of n (n≥2) sampling points are divided, the electronic device can determine the irradiation integral corresponding to each of these n sampling points according to these n sampling points and the vertical field of view angle range corresponding to the lidar

[0108] Specifically, the electronic device calculates whether the lidar can illuminate the camera within the vertical field of view angle at each sampling point, and whether the camera can capture the lidar within the vertical shooting angle range. For the i-th sampling point among the n sampling points, assume t i is the illumination integral corresponding to the i-th sampling point.

[0109] Exemplarily, as Figure 8 shown, it is a schematic diagram of the scenario for determining the illumination integral provided by the present invention. As can be seen from Figure 8 , if the installation position of the camera is outside the vertical field of view angle of the lidar, that is, the camera is in the viewing blind area of the lidar, such as Camera 1, then the illumination integral t i = 0.

[0110] If the installation position of the camera is within the vertical field of view angle of the lidar, but the lidar is outside the vertical shooting angle range of the camera, such as Camera 2 and Camera 3, then the illumination integral t i = 0.

[0111] If the installation position of the camera is within the vertical field of view angle of the lidar, and the lidar is within the vertical shooting angle range of the camera, such as Camera 4 and Camera 5, then it is further judged according to the vertical field of view angle range where the camera installation position is located: set the basic parameter p. If the vertical field of view angle resolution value of the vertical field of view angle range where the camera is located is also p, then the illumination integral t i = 1; if the vertical angle resolution of the vertical field of view angle range where the camera is located is q, then the illumination integral If the installation position of the camera is between m (m≥2) vertical field of view angles, then the illumination integral t i takes the average value, that is where p j represents the vertical field of view angle resolution value of the j-th vertical field of view angle among the m vertical field of view angles. That is to say, the closer the installation position of the camera is to the vertical field of view angle range of the lidar with the lowest vertical angle resolution, such as Camera 4, the larger the illumination integral t i is.

[0112] Next, the electronic device can determine the target illumination integral corresponding to the lidar within the illumination distance L fov according to the illumination integrals corresponding to each of the n sampling points: The illumination integral t i The larger it is, the closer the installation position of the camera is to the vertical field of view angle range of the lidar with the lowest vertical angle resolution. Since the lower the vertical angle resolution, the denser the laser beam distribution. Therefore, the illumination integral t iThe greater it is, the stronger the lidar irradiates the camera, that is, the greater the damage to the camera. Then, the electronic device can determine the fourth risk coefficient k according to the correlation between the target irradiation integral E and the damage degree of the camera fov If the target irradiation integral E = 0, then the fourth risk coefficient k fov = 0; if the target irradiation integral E > 0, then the fourth risk coefficient k fov > 1.

[0113] In some embodiments, for the electronic device to determine the damage threshold distance sample between the vehicle model sample and the camera independent of the vehicle model sample according to the first risk score, it may include: the electronic device determines the second risk score corresponding to the vehicle model sample according to the first risk score; the electronic device determines the lens damage threshold corresponding to the camera; the electronic device determines the damage threshold distance sample between the vehicle model sample and the camera independent of the vehicle model sample according to the second risk score and the lens damage threshold.

[0114] Among them, the lens damage threshold is related to parameters such as the photosensitive element type, aperture size, and lens material of the camera. The common photosensitive element types of cameras include CMOS and CCD. Due to the different materials of CMOS and CCD, the laser damage threshold of the CMOS image sensor is higher than that of the CCD, and a larger energy laser is required to damage the CMOS. The aperture of the camera is related to the light input. When the aperture increases by one level, the light input doubles, and more laser irradiates on the image sensor. In addition, the lens damage threshold corresponding to the camera is also related to the lens material, and different materials of lenses have different light transmittances for lasers.

[0115] Based on the various indicators of the camera, assuming the lens damage threshold is H, the higher the laser damage threshold of the photosensitive element of the camera, the smaller the aperture, and the better the laser-proof performance of the lens, the greater the lens damage threshold H, and a higher energy density laser is required to damage the camera.

[0116] In the process of determining the damage threshold distance sample, the electronic device can determine the second risk score corresponding to the vehicle model sample equipped with the lidar according to the first risk score corresponding to the lidar; at the same time, the electronic device determines the lens damage threshold H corresponding to the camera; then, the electronic device can determine the damage threshold distance sample L between the vehicle model sample and the camera independent of the vehicle model sample according to the second risk score and the lens damage threshold H car .

[0117] It should be noted that the sequence of the electronic device determining the second risk score and the electronic device determining the lens damage threshold is not limited.

[0118] Optionally, the electronic device determines a second risk score corresponding to the vehicle model sample according to the first risk score, which may include: when the number of lidars mounted on the vehicle model sample is one, the electronic device determines the first risk score corresponding to the lidar as the second risk score corresponding to the vehicle model sample; when the number of lidars mounted on the vehicle model sample is multiple, the electronic device sums up the first risk scores corresponding to the multiple lidars and determines the sum as the second risk score.

[0119] Assume that the second risk score corresponding to the vehicle model sample is P car . When the number of lidars is one, the electronic device determines the first risk score P corresponding to the lidar as the second risk score corresponding to the vehicle model sample, that is, P car = P; when the number of lidars is multiple, assume that the vehicle model sample is equipped with D (D≥2) lidars, sum up the first risk scores corresponding to these D lidars respectively, and determine the sum as the second risk score, that is where, P d represents the first risk score corresponding to the d-th lidar among the D lidars.

[0120] In addition, the electronic device can calculate the second risk scores corresponding to multiple vehicle model samples respectively, and construct a vehicle model risk score set G based on the multiple vehicle model samples and the second risk scores corresponding to these multiple vehicle model samples danger .

[0121] Specifically, the laser beam emitted by the lidar will undergo beam expansion during propagation, and the spot size will increase with the increase of the distance. When the distance from the light source is relatively close, the laser spot is smaller, the energy density is larger, and the energy loss of the laser penetrating the atmosphere is less. The energy of the laser irradiating on the camera is higher, and the camera is more likely to be damaged by the laser.

[0122] Assume that the basic damage threshold distance between the vehicle model sample with the second risk score as the basic score ΔP and the camera with the lens damage threshold as the basic threshold ΔH is ΔL, that is, when the straight-line distance between the vehicle model sample with the second risk score of ΔP and the camera with the lens damage threshold of ΔH is within ΔL, the probability of the camera being damaged by the laser is relatively high, and anti-laser damage measures need to be taken.

[0123] Assume the first exponent a (0 < a < 1), the second exponent b (-1 < b < 0), the second risk score P car , the lens damage threshold H and the damage threshold distance sample L car The relationship between them can be expressed as: and ΔL = ΔP a *ΔH b .

[0124] In addition, based on the vehicle type danger score set G of the electronic device danger , according to G danger , for the second danger scores corresponding to multiple vehicle type samples in G, in combination with the lens damage threshold, determine the damage threshold distance samples corresponding to these multiple vehicle type samples respectively. Based on the multiple vehicle type samples and the damage threshold distance samples corresponding to these multiple vehicle type samples respectively, construct the threshold set G distance .

[0125] 303. Take anti-laser damage measures for the camera according to the damage threshold distance.

[0126] The damage threshold distances corresponding to different vehicle types are different, and the anti-laser damage measures corresponding to different damage threshold distances are also different.

[0127] After obtaining the damage threshold distance between the vehicle type corresponding to the vehicle to be tested and the camera independent of the vehicle to be tested, the electronic device takes anti-laser damage measures for the camera according to the damage threshold distance. During the whole process, based on the damage threshold distance, the anti-laser damage measures for the camera can be flexibly implemented.

[0128] In some embodiments, the electronic device takes anti-laser damage measures for the camera according to the damage threshold distance, which may include: the electronic device determines the current distance between the vehicle to be tested and the camera; when the current distance is less than or equal to the damage threshold distance, the electronic device takes anti-laser damage measures for the camera, and the anti-laser damage measures include adjusting the transparency of the liquid crystal dimming film according to the current distance, or adjusting the transparency of the adjustable neutral density (ND) light reduction filter according to the current distance.

[0129] During the process of taking anti-laser damage measures for the camera according to the damage threshold distance, the electronic device first determines the current distance between the vehicle to be tested and the camera. That is to say, from the moment the front of the vehicle to be tested enters the monitoring screen captured by the camera to the moment the rear of the vehicle to be tested exits the monitoring screen, during this process, the electronic device monitors the current distance between the vehicle to be tested and the camera: when the current distance is greater than the damage threshold distance, no anti-laser damage measures are taken for the camera; when the current distance is less than or equal to the damage threshold distance, anti-laser damage measures are taken for the camera. That is, when a liquid crystal dimming film is installed on the camera, the electronic device adjusts the transparency of the liquid crystal dimming film according to the current distance; when an adjustable ND light reduction filter is installed on the camera, the electronic device adjusts the transparency of the adjustable ND light reduction filter according to the current distance. That is to say, when the vehicle to be tested is within the damage threshold distance range, the closer the vehicle to be tested is to the camera, the higher the level of anti-laser damage measures taken by the electronic device for the camera, which can effectively improve the flexibility of the camera's anti-laser damage.

[0130] Exemplarily, such asFigure 9 As shown in the figure, it is a schematic structural diagram of a liquid crystal dimming film provided by the prior art. In the figure, the liquid crystal dimming film is divided into three layers. The middle layer is the liquid crystal dimming layer, and the upper and lower layers are both conductive layers. When the conductive layer is powered on, the liquid crystal molecules are arranged neatly, and the liquid crystal dimming layer is transparent; when the conductive layer is powered off, the liquid crystal molecules are scattered, and the liquid crystal dimming layer is opaque.

[0131] When a liquid crystal dimming film is installed on the camera, when it is necessary to prevent laser irradiation, the electronic device can control the arrangement of the liquid crystal molecules by adjusting the voltage of the conductive layer of the liquid crystal dimming film, and then adjust the transparency of the liquid crystal dimming film.

[0132] Exemplarily, as Figure 10 shown in the figure, it is a schematic diagram of an adjustable neutral density dimming filter provided by the prior art. The adjustable ND dimming filter is a filter that can rotate and adjust the light transmittance through an electric rotating device.

[0133] When an adjustable ND dimming filter and an electric rotating device are installed on the camera, when it is necessary to prevent laser irradiation, the electronic device can control the electric rotating device to rotate the adjustable ND dimming filter, and then adjust the transparency of the adjustable ND dimming filter.

[0134] In the embodiment of the present invention, the vehicle model corresponding to the vehicle to be tested is determined; from the preset threshold set, the damage threshold distance between the vehicle model and the camera independent of the vehicle to be tested is determined, and the threshold set is constructed based on vehicle model samples and damage threshold distance samples; according to the damage threshold distance, laser damage prevention measures are taken for the camera. This method determines the damage threshold distance corresponding to the vehicle model from the preset threshold set based on the vehicle model corresponding to the vehicle, improves the acquisition efficiency of the damage threshold distance, and then can flexibly implement laser damage prevention measures for the camera based on the damage threshold distance.

[0135] Next, the camera laser damage prevention device provided by the present invention will be described. The camera laser damage prevention device described below can be mutually referred to the camera laser damage prevention method described above.

[0136] As Figure 11 shown in the figure, it is a schematic structural diagram of the camera laser damage prevention device provided by the present invention, which may include:

[0137] A vehicle model determination module 1101, configured to determine the vehicle model corresponding to the vehicle to be tested;

[0138] A damage threshold distance determination module 1102, configured to determine the damage threshold distance between the vehicle model and the camera independent of the vehicle to be tested from the preset threshold set, and the threshold set is constructed based on vehicle model samples and damage threshold distance samples;

[0139] The anti-laser damage module 1103 is used to take anti-laser damage measures for the camera according to the damage threshold distance.

[0140] Optionally, the steps for constructing the threshold set are as follows: Determine the vehicle model sample corresponding to the vehicle sample and the radar parameters corresponding to the lidar carried by the vehicle model sample; Determine the first risk score corresponding to the lidar according to the radar parameters; Determine the damage threshold distance sample between the vehicle model sample and the camera independent of the vehicle model sample according to the first risk score; Construct the threshold set according to the vehicle model sample and the damage threshold distance sample.

[0141] Optionally, the radar parameters include at least one of the following: wavelength, number of lines, sampling rate, irradiation distance, and energy density; The damage threshold distance determination module 1102 is specifically configured to determine the first risk coefficient corresponding to the lidar according to the wavelength; Determine the second risk coefficient corresponding to the lidar according to the number of lines; Determine the third risk coefficient corresponding to the lidar according to the sampling rate; Determine the fourth risk coefficient corresponding to the lidar according to the irradiation distance; Determine the fifth risk coefficient corresponding to the lidar according to the energy density; Determine the first risk score corresponding to the lidar according to at least one of the first risk coefficient, the second risk coefficient, the third risk coefficient, the fourth risk coefficient, and the fifth risk coefficient.

[0142] Optionally, the damage threshold distance determination module 1102 is specifically configured to determine the wavelength energy corresponding to the lidar according to the wavelength; Determine the first risk coefficient according to the wavelength energy; Determine the vertical angular resolution corresponding to the lidar according to the number of lines; Determine the second risk coefficient according to the vertical angular resolution; Determine the effective acquisition times of the lidar for the target object according to the sampling rate; Determine the third risk coefficient according to the effective acquisition times; Determine the target irradiation integral corresponding to the lidar according to the irradiation distance; Determine the fourth risk coefficient according to the target irradiation integral.

[0143] Optionally, the damage threshold distance determination module 1102 is specifically configured to determine the second risk score corresponding to the vehicle model sample according to the first risk score; Determine the lens damage threshold corresponding to the camera; Determine the damage threshold distance sample between the vehicle model sample and the camera independent of the vehicle model sample according to the second risk score and the lens damage threshold.

[0144] Optionally, the damage threshold distance determination module 1102 is specifically configured to determine the horizontal shooting angle range of the camera, where the horizontal shooting angle range includes a first side line and a second side line; determine a first position when the lidar enters the first side line, and determine a second position when the lidar leaves the second side line; determine a third position of the lidar within the horizontal shooting angle range according to the first position and the second position; determine the irradiation distance according to the first position, the second position, and the third position, and determine the target irradiation integral corresponding to the lidar according to the irradiation distance.

[0145] Optionally, the vehicle type determination module 1101 is specifically configured to obtain the license plate number of the vehicle to be tested; determine the vehicle type corresponding to the license plate number from a vehicle type library, where the vehicle type library is constructed based on license plate number samples and vehicle type samples.

[0146] Optionally, the laser damage prevention module 1103 is specifically configured to determine the current distance between the vehicle to be tested and the camera; when the current distance is less than or equal to the damage threshold distance, take laser damage prevention measures for the camera, where the laser damage prevention measures include adjusting the transparency of the liquid crystal dimming film according to the current distance, or adjusting the transparency of the adjustable neutral density (ND) filter according to the current distance.

[0147] As Figure 12 shown, it is a schematic structural diagram of an electronic device provided by the present invention. The electronic device may include: a processor 1210, a communications interface 1220, a memory 1230, and a communication bus 1240. Among them, the processor 1210, the communications interface 1220, and the memory 1230 communicate with each other through the communication bus 1240. The processor 1210 may call logic instructions in the memory 1230 to execute a method for preventing laser damage to a camera, and the method includes: determining the vehicle type corresponding to the vehicle to be tested; determining the damage threshold distance between the vehicle type and a camera independent of the vehicle to be tested from a preset threshold set, where the threshold set is constructed based on vehicle type samples and damage threshold distance samples; taking laser damage prevention measures for the camera according to the damage threshold distance.

[0148] In addition, when the logical instructions in the above-mentioned memory 1230 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0149] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the camera anti-laser damage method provided by the above-mentioned various methods. The method includes: determining the vehicle model corresponding to the vehicle to be tested; determining, from a preset threshold set, the damage threshold distance between the vehicle model and a camera independent of the vehicle to be tested, where the threshold set is constructed based on vehicle model samples and damage threshold distance samples; and taking anti-laser damage measures for the camera according to the damage threshold distance.

[0150] In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium with a computer program stored thereon. When the computer program is executed by a processor, it realizes the camera anti-laser damage method provided by the above-mentioned various methods. The method includes: determining the vehicle model corresponding to the vehicle to be tested; determining, from a preset threshold set, the damage threshold distance between the vehicle model and a camera independent of the vehicle to be tested, where the threshold set is constructed based on vehicle model samples and damage threshold distance samples; and taking anti-laser damage measures for the camera according to the damage threshold distance.

[0151] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative effort.

[0152] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solutions, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for preventing laser damage to a camera, characterized in that, Comprising: Determine the vehicle model corresponding to the vehicle to be tested; Determine, from a preset threshold set, the damage threshold distance between the vehicle model and a camera independent of the vehicle to be tested, where the threshold set is constructed based on vehicle model samples and damage threshold distance samples; Take anti-laser damage measures for the camera according to the damage threshold distance.

2. The method according to claim 1, characterized in that, The construction steps of the threshold set are as follows: Determine the vehicle model sample corresponding to the vehicle sample, and the radar parameters corresponding to the lidar carried by the vehicle model sample; Determine the first risk score corresponding to the lidar according to the radar parameters; Determine the damage threshold distance sample between the vehicle model sample and a camera independent of the vehicle model sample according to the first risk score; Construct the threshold set according to the vehicle model sample and the damage threshold distance sample.

3. The method according to claim 2, wherein The radar parameters include at least one of the following: wavelength, number of lines, sampling rate, irradiation distance, and energy density; the determining the first risk score corresponding to the lidar according to the radar parameters includes: Determine the first risk coefficient corresponding to the lidar according to the wavelength; Determine the second risk coefficient corresponding to the lidar according to the number of lines; Determine the third risk coefficient corresponding to the lidar according to the sampling rate; Determine the fourth risk coefficient corresponding to the lidar according to the irradiation distance; Determine the fifth risk coefficient corresponding to the lidar according to the energy density; Determine the first risk score corresponding to the lidar according to at least one of the first risk coefficient, the second risk coefficient, the third risk coefficient, the fourth risk coefficient, and the fifth risk coefficient.

4. The method according to claim 3, wherein The determining the first risk coefficient corresponding to the lidar according to the wavelength includes: Determine the wavelength energy corresponding to the lidar according to the wavelength; determine the first risk coefficient according to the wavelength energy; The determining the second risk coefficient corresponding to the lidar according to the number of lines includes: Determine the vertical angular resolution corresponding to the lidar according to the number of lines; determine the second risk coefficient according to the vertical angular resolution; The determining the third risk coefficient corresponding to the lidar according to the sampling rate includes: Determine the effective acquisition times of the lidar for the target object according to the sampling rate; determine the third risk coefficient according to the effective acquisition times; The determining the fourth risk coefficient corresponding to the lidar according to the irradiation distance includes: Determine the target irradiation integral corresponding to the lidar according to the irradiation distance; determine the fourth risk coefficient according to the target irradiation integral.

5. The method according to claim 2, characterized in that, The determining the damage threshold distance sample between the vehicle model sample and a camera independent of the vehicle model sample according to the first risk score includes: Determine the second risk score corresponding to the vehicle model sample according to the first risk score; Determine the lens damage threshold corresponding to the camera; Determine the damage threshold distance sample between the vehicle model sample and a camera independent of the vehicle model sample according to the second risk score and the lens damage threshold.

6. The method according to claim 4, wherein Determining the target irradiation integral corresponding to the lidar according to the irradiation distance includes: Determining the horizontal shooting angle range of the camera, where the horizontal shooting angle range includes a first side line and a second side line; Determining a first position when the lidar enters the first side line and determining a second position when the lidar leaves the second side line; Determining a third position of the lidar within the horizontal shooting angle range according to the first position and the second position; Determining the irradiation distance according to the first position, the second position and the third position, and determining the target irradiation integral corresponding to the lidar according to the irradiation distance.

7. The method according to claim 1, characterized in that Determining the vehicle type corresponding to the vehicle to be tested includes: Obtaining the license plate number of the vehicle to be tested; Determining the vehicle type corresponding to the license plate number from a vehicle type library, where the vehicle type library is constructed based on license plate number samples and vehicle type samples.

8. The method according to claim 1, wherein Taking anti-laser damage measures for the camera according to the damage threshold distance includes: Determining the current distance between the vehicle to be tested and the camera; When the current distance is less than or equal to the damage threshold distance, taking anti-laser damage measures for the camera, where the anti-laser damage measures include adjusting the transparency of a liquid crystal dimming film according to the current distance, or adjusting the transparency of an adjustable neutral density (ND) optical density reducing filter according to the current distance.

9. A camera anti-laser damage device, characterized in that, Including: A vehicle type determination module for determining the vehicle type corresponding to the vehicle to be tested; A damage threshold distance determination module for determining the damage threshold distance between the vehicle type and a camera independent of the vehicle to be tested from a preset threshold set, where the threshold set is constructed based on vehicle type samples and damage threshold distance samples; An anti-laser damage module for taking anti-laser damage measures for the camera according to the damage threshold distance.

10. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein, When the processor executes the program, it implements the camera anti-laser damage method according to any one of claims 1 to 8.

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