Control method and controller for laser radar, and vehicle sensing system and method

Abstract

A control method for a laser radar. The laser radar is rotatably mounted on a vehicle. The method comprises: determining an operating state of a vehicle; and controlling the rotation of the laser radar on the basis of the operating state of the vehicle. A vehicle sensing system, comprising: a plurality of radars arranged on a vehicle in a distributed manner, wherein field-of-view angle ranges of at least two radars at least partially overlap, and at least one movable radar is comprised in the at least two radars and is movably arranged relative to the vehicle; a controller configured to generate a corresponding radar control instruction on the basis of change information of the vehicle, and output same, the change information comprising at least one of vehicle motion change information and environment change information; and an actuator configured to control, on the basis of the radar control instruction, the corresponding radars to perform corresponding operations, so as to adjust target field-of-view angle ranges of the plurality of radars. In the system and method, the rotation of a laser radar is controlled on the basis of the motion state of a vehicle, thereby adaptively changing a detection area of the laser radar and enhancing the detection of a blind area. Further disclosed are a controller for the laser radar, and a vehicle sensing method.

Description

Control method and controller of lidar, and vehicle perception system and method

[0001] This application claims priority to Chinese Patent Application No. 202410866433.9, filed on June 28, 2024, entitled “Vehicle and Perception System and Method Thereof,” and Chinese Patent Application No. 202411719982.X, filed on November 27, 2024, entitled “Control Method, Device, System of Lidar, and Vehicle,” the contents of which are incorporated by reference in their entirety in the present disclosure. TECHNICAL FIELD

[0002] Embodiments of the present disclosure relate to the field of optical detection technology, and in particular to a control method and controller of lidar, and a vehicle perception system and method. BACKGROUND

[0003] Intelligent driving refers to a system equipped with advanced intelligent devices such as sensors, using modern sensing technology, information and communication technology, artificial intelligence and other technologies, having functions such as complex environment perception, planning and decision making, and control execution, and ultimately replacing human drivers for driving, partially or completely.

[0004] According to the different distribution of automobile control right and safety responsibility, intelligent driving can be divided into different levels. The higher the level, the higher the automation degree of the vehicle, and the lower the demand for driver takeover in dynamic driving process. Among them, according to the difference of driving subject, the lower level can be collectively referred to as “driving assistance”, which includes advanced driver assistant system (ADAS), which can be classified as medium-level intelligent driving; the higher level can be collectively referred to as “autonomous driving”, which can also be referred to as high-level intelligent driving.

[0005] Light detection and ranging (LiDAR) is a sensor that uses laser as a medium for object detection. It can actively detect the surrounding environment by emitting laser, and has been applied in many fields. In ADAS, a forward-looking radar can be installed on a vehicle for detection of the driving environment in front, so that the vehicle can identify potential dangers in front in time and make plans.

[0006] High-level intelligent driving puts higher requirements on the detection range and detection ability of radar. Lidar still needs to continuously improve the detection effect on the environment. SUMMARY

[0007] The control method and device of the laser radar and the vehicle perception system provided by the embodiments of the present disclosure can improve the adaptability of the laser radar to the environment and improve the detection effect on the environment.

[0008] In a first aspect, a control method of a laser radar is provided. The first laser radar is rotatably installed on a vehicle. The control method comprises: determining a running state of the vehicle; and controlling rotation of the first laser radar according to the running state of the vehicle. The first laser radar is rotatably installed on the vehicle in the present disclosure, and the rotation of the first laser radar is controlled based on the running state of the vehicle, so that the first laser radar can change the detection range according to the running state of the vehicle, and the detection range of the first laser radar can better adapt to the change of the driving scene of the vehicle. For example, for different driving scenes, the center of the field of view (FOV) range of the first laser radar can be changed to face the blind area of the user, so as to increase the accuracy of detection on the blind area and improve the reliability or safety of driving of the vehicle.

[0009] Optionally, the running state comprises a steering state, and the control of the rotation of the first laser radar according to the running state of the vehicle comprises: controlling the first laser radar to rotate in the same direction as the steering direction according to the steering state of the vehicle; or controlling the first laser radar to rotate in the opposite direction of the steering direction according to the steering state of the vehicle. When the laser radar is controlled to rotate in the same direction as the steering direction according to the steering of the vehicle, the laser radar can pay more attention to the objects that may appear in the driving direction during the steering of the vehicle, so as to reduce the driving risk that may occur because the detection angle of the laser radar cannot reach the area to be driven by the vehicle in time during the steering of the vehicle, and improve the reliability or safety of the vehicle. In addition, the detection capability of the edge field of view of the laser radar may be relatively reduced compared with the detection capability of the center field of view. By the above rotation control, the detection capability of the edge field of view can be compensated to reduce the risk of missing detection. By controlling the rotation of the laser radar, the center field of view can be changed to follow the running state of the vehicle, and more areas where risks may occur can be detected. When the laser radar is controlled to rotate in the opposite direction according to the steering of the vehicle, the detection on the blind area can be increased during the steering of the vehicle, the risk caused by the insufficient attention of the user to the non-driving direction can be reduced, and the user can be timely warned or the driving behavior of the vehicle can be automatically controlled when the object appears in the non-driving direction. By increasing the detection on the blind area, the requirement for the attention of the user can be reduced, and the driving risk can be reduced, thereby improving the reliability or safety of the vehicle.

[0010] Optionally, the vehicle further comprises a second laser radar, and the rotation of the first laser radar is controlled according to the running state of the vehicle, including: controlling the first laser radar to rotate in the same direction as the turning direction; and the control method further comprises: controlling the second laser radar to rotate in the same direction as the turning direction or in the opposite direction, or keeping the second laser radar stationary. The present disclosure uses at least two laser radars to improve the reliability or safety of the vehicle in the turning driving scene.

[0011] Optionally, the vehicle comprises a vehicle. By controlling the turning of the laser radar according to the driving scene of the vehicle, the "dynamic blind area" caused by the influence of road line type, slope, building, greenery and the relative position change with other vehicles during driving can be better adapted, helping the driver to avoid road risks in advance, and the alarm system arranged on the vehicle can timely warn the driver, improve the driving safety and reduce the accident risk. Especially in the present when full-automatic driving and semi-automatic driving are gradually popular, the control method of the laser radar can realize automatic turning of the laser radar, improve the driving safety while taking into account the convenience of driving operation, and has strong practicability.

[0012] Optionally, the control method further comprises: determining the driving scene of the vehicle; and enabling the rotation control of the laser radar according to the driving scene. Enabling the rotation control of the laser radar in the required scene can reduce the power consumption of the control of the laser radar, and in addition, the probability of rotation of the laser radar can be reduced in high-speed and other simple driving scenes, and the power consumption can be reduced.

[0013] In a second aspect, a controller of a laser radar comprises a processor and an interface circuit, the processor is configured to execute any of the above control methods, and the radar control instruction is sent through the interface circuit, the radar control instruction is used to control the rotation of the first laser radar.

[0014] Optionally, the controller comprises a determination unit and a control unit. The determination unit can determine the running state of the vehicle, and the control unit can control the rotation of the first laser radar according to the running state of the vehicle.

[0015] Optionally, the controller comprises a processor connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to realize any of the above control methods or realize the functions of the above units.

[0016] Optionally, the vehicle comprises a vehicle; and the controller comprises, for example but not limited to: a domain controller, an electronic control unit, a vehicle-mounted central computer, a zone controller, a micro control unit or a vehicle control unit.

[0017] Optionally, the domain controller comprises a vehicle domain controller, a cabin domain controller or an intelligent driving domain controller.

[0018] In a third aspect, a vehicle perception system comprises: a plurality of lidars distributed on the vehicle, wherein at least two lidars have at least partially overlapping field of view angle ranges, and the at least two lidars comprise a first lidar which is movably arranged relative to the vehicle; a controller adapted to generate and output corresponding radar control instructions based on change information of the vehicle, the change information comprising at least one of: vehicle motion change information and environmental change information; and an actuator adapted to control the corresponding lidar to perform corresponding operations according to the radar control instructions to adjust a target field of view angle range of the plurality of lidars.

[0019] Optionally, the first lidar is adjustable in pose relative to the vehicle; the controller is adapted to generate at least one of: a radar switching instruction and a pose adjustment instruction based on the change information of the vehicle; and the actuator is adapted to control the corresponding lidar to turn on or off according to the radar switching instruction, and / or drive the corresponding first lidar to adjust to a target pose according to the pose adjustment instruction.

[0020] Optionally, the first lidar is adapted to rotate relative to the vehicle, the rotation comprising at least one of: horizontal rotation or vertical rotation; the controller is adapted to generate a pose adjustment instruction based on the change information of the vehicle; and the actuator is adapted to drive the corresponding first lidar to perform the rotation according to the pose adjustment instruction to adjust the corresponding first lidar to a target pose.

[0021] Optionally, a distance between the plurality of lidars is determined based on at least one of: a width of the vehicle, a mounting position on the vehicle, and a detection parameter of a lidar.

[0022] Optionally, the at least two lidars further comprise a second lidar, the first lidar and the second lidar are symmetrically distributed in a front region of the vehicle, and the first lidar and the second lidar have at least partially overlapping field of view angle ranges.

[0023] Optionally, the first lidar and the second lidar are adjacently arranged, and the first lidar and the second lidar have partially overlapping field of view angle ranges in a front region of the vehicle.

[0024] Optionally, the first lidar and the second lidar have the same or different detection parameters.

[0025] Optionally, a rotation angle of the first lidar is determined based on at least one of: a detection parameter of the first lidar; an acceptable forward detection distance of the vehicle after pose adjustment of the first lidar; or an acceptable blind area distance.

[0026] Optionally, the vehicle is provided with a mounting device, one end of which is adapted to be fixed to the vehicle, and the mounting device is provided with a mounting rack; the first laser radar is rotatably arranged on the mounting rack to rotate relative to the vehicle.

[0027] Optionally, the mounting device is adapted to be arranged on the vehicle body or inside the vehicle, and the mounting rack is adapted to be rotatably connected to at least one part of the first laser radar, such as the bottom, top, side, or rear.

[0028] Optionally, the vehicle motion change information includes at least one type of information, such as intelligent driving mode switching information, driving speed change information, driving direction change information, or scene change information, wherein different scenes correspond to different driving environments; the environmental change information includes at least one type of information, such as road condition change information or road surface slope change information.

[0029] The embodiments of the present disclosure also provide a vehicle perception method, the vehicle comprising: a plurality of laser radars, which are distributed and arranged on the vehicle, wherein the field of view angle ranges of at least two radars at least partially overlap, and the at least two laser radars include a first laser radar, which is movably arranged relative to the vehicle, the method comprising: acquiring vehicle change information, the change information including at least one of vehicle motion change information and environmental change information; generating corresponding radar control instructions based on the change information; and driving the corresponding radars to perform corresponding operations according to the radar control instructions, so as to adjust the target field of view angle range of the plurality of laser radars.

[0030] Optionally, the first laser radar is adjustable in pose relative to the vehicle; the generating of the corresponding radar control instructions based on the change information includes: generating at least one of a radar switch instruction and a pose adjustment instruction based on the change information; and the driving of the corresponding radars to perform corresponding operations according to the radar control instructions, so as to adjust the target field of view angle range of the plurality of laser radars, includes at least one of: controlling the corresponding radars to be turned on or off according to the radar switch instruction; or driving the corresponding first laser radar to adjust to a target pose according to the pose adjustment instruction.

[0031] Optionally, the first laser radar is adapted to rotate relative to the vehicle, and the rotation includes at least one of horizontal rotation and vertical rotation; the generating of the corresponding pose adjustment instruction based on the change information includes: generating a corresponding attitude adjustment instruction based on the change information; and the driving of the corresponding first laser radar to adjust to a target pose according to the pose adjustment instruction includes: driving the corresponding first laser radar to perform the rotation according to the attitude adjustment instruction, so as to adjust the corresponding first laser radar to the target pose.

[0032] Optionally, the vehicle motion change information comprises at least one of the following types of information: intelligent driving mode switching information; driving speed change information; driving direction change information; or scene change information, wherein different scenes correspond to different driving environments; and the environment change information comprises at least one of the following types of information: road condition change information; or road surface slope change information.

[0033] In a fifth aspect, a vehicle comprises the vehicle perception system according to any one of the preceding embodiments.

[0034] In a sixth aspect, a mounting device for a laser radar, the mounting device comprising: a mounting frame configured to carry the laser radar and a power mechanism, the power mechanism configured to provide power to drive the laser radar to rotate; a mounting hole located on the mounting frame, the mounting hole configured to accommodate a rotating shaft of the laser radar to provide a center position of rotation of the laser radar; and a driving structure disposed on the mounting frame and connected to a power output shaft of the power mechanism, the driving structure configured to receive power output by the power output shaft and drive the laser radar to rotate around the center position under the action of the power. The present disclosure mounts the laser radar and the power mechanism on a carrier through the mounting device, which is conducive to the stable operation of the laser radar. For example, the mounting hole is configured to accommodate the rotating shaft of the laser radar, so that the laser radar can be rotatably arranged on the carrier, thereby maintaining the stability of the laser radar during rotation and reducing the influence on the detection performance of the laser radar. In addition, the driving structure is configured to transmit power to the laser radar, which is conducive to the flat layout of the laser radar and the power mechanism, reduces the overall installation area of the laser radar and the power mechanism, and is compact, which is more conducive to application on the carrier.

[0035] Optionally, the rotating shaft is on the same straight line as the optical center of the laser radar, so that the optical center of the laser radar can remain unchanged relative to the coordinates of the carrier during rotation. By setting the rotating shaft at the position of the optical center, the conversion relationship between the coordinate system of the laser radar and the coordinate system of the vehicle can be determined by calibrating the relative position of the laser radar and the vehicle. By calculating (e.g., linear calculation) the rotation angle of the laser radar, the conversion relationship between the coordinate system of the rotated laser radar and the coordinate system of the vehicle can be determined, which is simple to calculate and does not need to be calibrated again.

[0036] Optionally, the laser radar and the power mechanism are arranged along a bearing surface of the mounting frame, and the driving structure is configured to convert the power output in the first direction into driving force in a second direction, the driving force being used to drive rotation of the laser radar, the first direction being perpendicular to the bearing surface, and the second direction being parallel to the bearing surface. The mounting structure provided by the present disclosure is more conducive to flattening of the overall structure and reduction of the installation space. Moreover, thanks to the flattened design of the overall structure, the laser radar can be more flexibly fixed or integrated at different positions of the carrier and is less likely to be interfered with by the structure, so as to facilitate installation of the laser radar on the carrier.

[0037] Optionally, the base of the laser radar is provided with a first tooth structure; the driving structure comprises a second tooth structure, the second tooth structure being arranged on the mounting frame, the second tooth structure being engaged with the first tooth structure, and the second tooth structure being connected with the power output shaft and being rotated relative to the mounting frame under the action of the power. The tooth structure of the present disclosure is more compact and stable in transmission, and is conducive to conversion of the direction of the driving force, so that the mounting structure of the laser radar and the power mechanism is more flattened.

[0038] Optionally, the first tooth structure comprises an arc-shaped tooth structure, and the second tooth structure comprises a fan-shaped tooth structure. In this way, the structure is compact, which is conducive to lightening of the laser radar, reduction of the installation cost of the laser radar, and better driving efficiency.

[0039] Optionally, the fan-shaped tooth structure comprises a hollow structure, which is conducive to lightening of the laser radar and the mounting device as a whole.

[0040] Optionally, the base of the laser radar is provided with a first guide structure; the base of the laser radar is provided with a first guide structure; the mounting frame is provided with a second guide structure, the second guide structure being matched with the first guide structure and being configured to guide a rotation track of the laser radar during rotation of the laser radar. While ensuring that the laser radar is more stably mounted on the mounting frame, the rotation of the laser radar is not affected, and the rotation track of the laser radar is more stable.

[0041] Optionally, the part of the mounting frame carrying the power mechanism comprises a mounting table configured to mount the power mechanism and an opening configured to expose the side of the power mechanism connected with the driving structure. The disclosure sets the mounting table to mount the power mechanism, which can raise the height of the power mechanism to a certain extent, so as to set the power output shaft on the side of the power mechanism facing the mounting frame and provide mounting space for the driving structure to transmit the power output by the power output shaft to the laser radar, further realizing the overall structural flattening of the laser radar and the mounting device and reducing the mounting space under the condition that the thickness of the power mechanism remains unchanged. In the disclosure, the mounting frame is also provided with an opening on the side of the power mechanism connected with the driving structure, that is, the opening can expose the side of the power mechanism connected with the driving structure. On the one hand, it is conducive to heat dissipation of the power mechanism, so that the power mechanism can operate stably for a long time, and on the other hand, it can also reduce the overall weight of the mounting device and realize lightweight production.

[0042] In a seventh aspect, a control system for a vehicle, the control system comprising: a first laser radar rotatably mounted on the vehicle; and a controller as described above in signal connection with a power mechanism driving the first laser radar and configured to control rotation of the first laser radar.

[0043] Optionally, the first laser radar is mounted on the vehicle by a mounting device as described above.

[0044] In an eighth aspect, a computer-readable storage medium is provided, comprising instructions stored thereon, which, when invoked by a processor, causes any of the above control methods to be performed.

[0045] In a ninth aspect, a computer program (or computer program product) is provided, comprising instructions, which, when invoked by a processor, causes any of the control methods in the above embodiments to be performed. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the disclosure, the following will be an exemplary introduction to the drawings used in the embodiment description. The drawings in the following description are only embodiments of the disclosure, and those skilled in the art can also obtain other drawings according to the provided drawings without creating any creative labor. The drawings are used to provide further understanding of the disclosure and constitute a part of the specification. Together with the embodiments of the disclosure, they are used to explain the disclosure, but do not constitute a limitation on the disclosure.

[0047] In order to make the drawing simple, each drawing only schematically represents the part related to the corresponding embodiment, which does not represent the actual structure of the product, and there can be more or less structures or components. In addition, in order to make the drawing simple and easy to understand, there can be more or less similar structures or components in the structures or components shown in the drawings.

[0048] FIG. 1 shows an application scenario of a lidar consistent with some embodiments of the present disclosure.

[0049] FIG. 2 shows a flowchart of a control method of a lidar consistent with some embodiments of the present disclosure.

[0050] FIG. 3 shows an example diagram of a control method of a lidar consistent with some embodiments of the present disclosure.

[0051] FIG. 4 shows an example diagram of a control method of a lidar consistent with some embodiments of the present disclosure.

[0052] FIG. 5 shows an example block diagram of a controller consistent with some embodiments of the present disclosure.

[0053] FIG. 6 shows an example block diagram of a controller consistent with some embodiments of the present disclosure.

[0054] FIG. 7 shows a schematic diagram of a vehicle perception method.

[0055] FIG. 8 shows a schematic diagram of a vehicle perception system consistent with some embodiments of the present disclosure.

[0056] FIGS. 9A and 9B show schematic diagrams of a target field of view angle range change of a vehicle perception system in an application scenario consistent with some embodiments of the present disclosure.

[0057] FIG. 10 shows a schematic diagram of a distribution of a lidar on a vehicle consistent with some embodiments of the present disclosure.

[0058] FIG. 11 shows a flowchart of a vehicle perception method consistent with some embodiments of the present disclosure.

[0059] FIG. 12 shows an example diagram of a lidar and a mounting device consistent with some embodiments of the present disclosure.

[0060] FIG. 13 shows an example diagram of a lidar and a mounting device consistent with some embodiments of the present disclosure.

[0061] FIG. 14 shows an example diagram of a lidar and a mounting device consistent with some embodiments of the present disclosure.

[0062] FIG. 15 shows an example diagram of a lidar consistent with some embodiments of the present disclosure.

[0063] FIG. 16 shows an example diagram of a lidar consistent with some embodiments of the present disclosure.

[0064] FIG. 17 shows an example block diagram of a control system, consistent with some embodiments of the present disclosure. DETAILED DESCRIPTION

[0065] The terms “mount”, “set”, “connect” should be interpreted broadly, for example, “mount” can be direct mounting or mounting through other components; “set” can be direct setting or setting through other components; “connect” can be direct connection or connection through other components.

[0066] In the embodiments shown in the drawings, the indications of directions (such as up, down, left, right, front, or back, etc.) are not absolute but relative when describing the structure or movement of individual components, and are not used to limit the direction of actual use of the product.

[0067] Laser radar uses laser as a medium for object detection. In the detection process, the laser radar can emit laser; the laser encounters an object and is reflected by the surface of the object. At least part of the reflected light can be reflected back to the laser radar; the light reflected back to the laser radar can be referred to as a return. The laser radar can convert the return into an electrical signal and determine the information of the object, such as one or more of the distance, position, or speed of the object; or information such as the three-dimensional structure of the object.

[0068] Laser radar has been applied in many fields, such as intelligent driving, unmanned aerial vehicles, robot recognition, geographic mapping, or environmental monitoring, etc. Intelligent driving can also be referred to as autonomous driving or assisted driving, including any level of autonomous driving, such as L1-L5 or any other level of autonomous driving. In applications, the laser radar can be installed on a vehicle to provide perception data, such as point cloud data, for the vehicle, so that the vehicle uses the perception data to realize one or more functions such as analysis, decision-making, or control. The vehicle includes, but is not limited to, a vehicle, a ship, an aircraft (such as a flying vehicle or a drone, etc.), a robot (such as an industrial robot or a household robot, etc.), or a mapping device, etc.

[0069] In the application process of the laser radar, different environments can be encountered. If the laser radar is not adaptable to the environment during use, the perception of the laser radar to the environment can not meet the needs of the change of the environment. With the development of intelligence or automation, the perception of the laser radar plays an important role in the intelligent or automated operation of the vehicle. Based on this, the embodiments of the present disclosure provide technical solutions such as control methods, devices, and systems for laser radars, to improve the flexibility of the laser radar in perceiving the environment, so that the laser radar can more flexibly adapt to changes in the environment during use, provide more perception data that conforms to the environment of the vehicle, and make the operation of the vehicle more reliable.

[0070] The application of the laser radar in the field of intelligent driving is described below. When the laser radar is applied in other fields, the scheme provided in the embodiments of the present disclosure can be adopted to improve the reliability of the applied vehicle. For example, the laser radar can be installed on a vehicle. During the driving process of the vehicle, a user may not be able to observe a certain area around the vehicle, which can be referred to as a blind area. Objects such as pedestrians, motor vehicles, non-motor vehicles, or obstacles may exist in the blind area, thereby increasing the risk of collision or accident of the vehicle. By installing the laser radar on the vehicle, the laser radar can be used to perceive the environment around the vehicle, and the driving strategy of the vehicle can be adjusted in a timely manner by using the perception data to improve driving safety.

[0071] During the driving process of the vehicle, the driving scene may change. For example, during the driving process of the vehicle, there are various driving scenes such as lane changing, turning, or U-turning; for another example, during the use of the vehicle, there are various driving scenes such as urban roads, highways, or elevated roads. In different driving scenes, the blind area of the vehicle may also change. When the laser radar is used to reduce the risk brought by the blind area, the laser radar may not be able to adapt to the change of the blind area to change the detection area.

[0072] The embodiments of the present disclosure provide a control method of a laser radar, which can control the rotation of the laser radar according to the motion state of the vehicle, thereby adaptively changing the detection area of the laser radar and enhancing the detection of the blind area. The control method can make the laser radar more flexible to adapt to the change of the blind area of the vehicle during the driving process, effectively reduce the risk brought by the blind area, and be more conducive to the vehicle to perceive the surrounding environment and adjust the driving strategy in a timely manner or prompt the user of the risk, thereby improving driving safety.

[0073] The embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0074] FIG. 1 shows an application scene example diagram of a laser radar, which is consistent with some embodiments of the present disclosure. Please refer to FIG. 1. The laser radar 110 is installed on the vehicle 120, and can detect objects around the vehicle during the driving process of the vehicle 120 to provide perception data for the vehicle, which is used for intelligent driving of the vehicle 120. The embodiments of the present disclosure do not limit the installation position of the laser radar 110 on the vehicle 120. For example, the laser radar 110 can be installed at the front side position of the top of the vehicle, as shown by the solid line box in FIG. 1. For another example, the dashed line box in FIG. 1 also shows other possible installation positions, including but not limited to: other positions of the top of the vehicle (for example, the rear side, the middle, or any other position, etc.), the vicinity of the front headlamp, hidden in the front headlamp cover, the two sides of the vehicle body, the front bumper, the grille, above the front windshield, above the rear window, on the side wing, on the front wheel arch, on the front cover, on the trunk lid, below the trunk, or a position in the cabin that can detect outward through the front windshield, etc.

[0075] The vehicle 120 can be installed with one or more lidars 110. The number of lidars installed on the vehicle is not limited in the embodiments of the present disclosure. The number and position of the lidars can be selected and designed based on one or more factors such as perception performance, safety, cost, appearance, or engineering. For example, one lidar is installed on the front side of the top of the vehicle; for another example, one lidar is installed on each side of the vehicle near the front headlamp; for yet another example, one lidar is installed on the front side of the top of the vehicle, and one lidar is installed on each side of the vehicle on the fender; for yet another example, one lidar is installed on the front side and the rear side of the top of the vehicle, and one lidar is installed on each side of the vehicle at the front wheel arch.

[0076] The type of the lidar is also not limited in the embodiments of the present disclosure. For example, the lidar can be a mechanical lidar, a semi-solid lidar, or a solid lidar. The semi-solid lidar can include, for example, a micro electro mechanical system (MEMS) lidar, a rotating mirror lidar, a swinging mirror lidar, or a prism lidar. The solid lidar can include, for example, an optical phase array (OPA) lidar or a flash lidar. When the vehicle is installed with multiple lidars, the types of the lidars can be the same or different, and the shapes of the lidars can be the same or different.

[0077] FIG. 2 shows a flowchart of a control method of a lidar according to some embodiments of the present disclosure. The first lidar can be rotatably installed on a vehicle; referring to FIG. 2, the control method can include the following steps:

[0078] S210: determining a running state of the vehicle.

[0079] S220: controlling rotation of the first lidar according to the running state of the vehicle.

[0080] In some embodiments, the rotation of the first lidar can be performed simultaneously with or at a different time from the detection of the first lidar. For example, the first lidar can keep detecting during the rotation. For another example, the first lidar can stop detecting during the rotation and start detecting after the rotation is completed. For another example, the first lidar can stop detecting before the rotation and start detecting after the rotation to a preset angle. The preset angle can be 1 / 4, 1 / 3, 1 / 2, or 3 / 4 of the rotation angle of the first lidar. The preset angle can also be 10°, 20°, 25°, 30°, 35°, 40°, or 45°.

[0081] The above embodiments of the present disclosure rotatably mount the laser radar on the vehicle, and control the rotation of the laser radar based on the running state of the vehicle, so that the laser radar can change the detection range according to the running state of the vehicle, so that the detection range of the laser radar can better adapt to the change of the driving scene of the vehicle. For example, for different driving scenes, the orientation of the field of view (FOV) range of the laser radar can be changed (for example, the center of the FOV is oriented), so that the center of the field of view is oriented to the blind area of the user, the accuracy of the detection of the blind area is increased, the reliability or safety of the driving of the vehicle is improved, and the like.

[0082] In some embodiments, determining the running state of the vehicle includes determining a signal that can indicate the running state of the vehicle. For example, the signal that can indicate the running state of the vehicle can be determined from a controller of the vehicle or other sensors mounted on the vehicle.

[0083] In some embodiments of the present disclosure, the running state of the vehicle can include a steering state. For example, the steering direction of the vehicle can be determined according to the steering light. The steering direction or rotation angle of the vehicle can be determined according to the angle of the steering wheel, the angle of the wheel, or from the controller of the vehicle.

[0084] Step S220 can include controlling the first laser radar to rotate in the same direction as the steering direction according to the steering state of the vehicle. For example, when the vehicle turns left or makes a U-turn, the first laser radar can be controlled to rotate to the left. When the vehicle turns right, the first laser radar can be controlled to rotate to the right.

[0085] The left rotation can include rotating to the left side in the horizontal direction. The left rotation can also include rotating to the left side when the vehicle drives upward or downward in the vertical direction. For example, the left rotation can include rotating to the left lower side or rotating to the left upper side.

[0086] Through the above arrangement, when the vehicle turns, the laser radar can pay more attention to the objects that can appear in the driving direction, thereby reducing the driving risk of the laser radar when the vehicle turns, because the detection angle cannot reach the area where the vehicle will drive in time, and improving the reliability or safety of the vehicle.

[0087] In addition, the detection capability of the edge field of view of the laser radar can be relatively reduced compared with the detection capability of the center field of view. Through the above rotation control, the missing detection risk caused by the reduction of the detection capability of the edge field of view can be compensated. Through the control of the rotation of the laser radar, the orientation of the center field of view is changed according to the running state of the vehicle, and more areas where risks can occur are oriented.

[0088] In some embodiments of the present disclosure, the running state of the vehicle can include a turning state. The above step S220 can include: according to the turning state of the vehicle, controlling the first lidar to turn in a direction different from the turning direction, and enhancing the detection of the blind area by the first lidar. For example, when the vehicle turns left or makes a U-turn, the first lidar can be controlled to turn right, and when the vehicle turns right, the first lidar can be controlled to turn left.

[0089] During driving, the user can pay more attention to the direction of the vehicle to be driven, and thus a blind area can be generated in the non-driving direction, and thus an obstacle or a moving object can appear in the non-driving direction and cause a risk. Through the above setting, the detection of the blind area can be increased when the vehicle turns, the risk caused by the insufficient attention of the user to the non-driving direction can be reduced, and the user can be timely warned or the driving behavior of the vehicle can be automatically controlled when an object appears in the non-driving direction. By increasing the detection of the blind area, the requirement for the attention of the user can be reduced, and the occurrence of the driving risk can be reduced, and the reliability or safety of the vehicle can be improved.

[0090] In addition, the user can constantly change the line of sight when the vehicle turns to reduce the risk caused by the unchanged blind area for a long time. The embodiments of the present disclosure can reduce the frequency requirement for the change of the line of sight of the user through the control of the turning of the lidar, so that the driving of the vehicle is safer.

[0091] In some embodiments of the present disclosure, when the turning of the lidar is controlled according to the turning state of the vehicle, the turning angle of the lidar can be controlled according to the turning angle of the vehicle. The turning angle of the lidar and the turning angle of the vehicle can have a linear relationship or a nonlinear relationship, which is not limited in the embodiments of the present disclosure. In some embodiments of the present disclosure, when the turning of the lidar is controlled according to the turning state of the vehicle, the lidar can be controlled to turn a preset angle, which can be pre-set, so that the center region of the field of view of the lidar faces the side of the vehicle and the region to be driven by the vehicle during the turning.

[0092] In some embodiments of the present disclosure, a plurality of lidars can be installed on the vehicle. For example, FIG. 3 shows an example diagram of a control method of a lidar according to some embodiments of the present disclosure. Please refer to FIG. 3, the lidar 310 and the lidar 320 are rotatably installed on the vehicle 300. The control method of the above lidar can be applied to the lidar 310 or the lidar 320. The control mode of the plurality of lidars in the embodiments of the present disclosure can include multiple modes, which are described by taking the first lidar and the second lidar as examples, and can include the following control modes.

[0093] Control mode one: in some embodiments of the present disclosure, the first lidar and the second lidar are rotatably mounted on the vehicle. The control method can include: controlling the first lidar to rotate in the same direction as the turning direction; controlling the second lidar to rotate in the opposite direction of the turning direction. Please refer to FIG. 3, for example, the vehicle 300 turns right, as shown by the arrow R in FIG. 3, the lidar 310 is controlled to rotate right, and the field of view angle of the lidar 310 changes from the range shown by F1 in the figure to the range shown by F2. The lidar 320 is controlled to rotate left, and the field of view angle of the lidar 320 changes from the range shown by F3 in the figure to the range shown by F4. At this time, the first lidar can include the lidar 310, and the second lidar can include the lidar 320. Again, for example, the vehicle 300 turns left, as shown by the arrow L in FIG. 3, the lidar 320 is controlled to rotate left, and the field of view angle of the lidar 320 changes from the range shown by F3 in the figure to the range shown by F4. The lidar 310 is controlled to rotate right, and the field of view angle of the lidar 310 changes from the range shown by F1 in the figure to the range shown by F2. At this time, the first lidar can include the lidar 320, and the second lidar can include the lidar 310.

[0094] The above embodiments can use at least two lidars to improve the reliability or safety of the vehicle in the turning driving scene. For example, during driving, the direction opposite to the turning direction is easy to form a blind area for the user; or in the process of the user constantly changing the line of sight, the direction same as the turning direction may form a blind area due to the user's attention. The objects, especially moving objects, appearing in the blind area may cause obstacles or collisions to the driving of the vehicle, thereby causing driving risks. By rotating the at least two lidars in different directions when the vehicle is turning, the detection performance of the blind area can be improved, the driving risk can be reduced, and the reliability or safety of the vehicle can be improved. In addition, when the user operates the vehicle, the requirement for constantly switching the user's attention can be reduced, the user can focus on a certain direction (such as the driving direction or the front), the operation complexity is reduced, and the user's experience is improved.

[0095] Control mode two: In some embodiments of the present disclosure, the first lidar and the second lidar are rotatably mounted on the vehicle. The control method can include: controlling the first lidar to rotate in the same direction as the turning direction; controlling the second lidar to rotate in the same direction as the turning direction. Please refer to FIG. 4, for example, the vehicle 400 turns right, as shown by the arrow R in FIG. 4, the control lidar 410 rotates right, the field of view angle changes from the range shown by F1 in the figure to the range shown by F2. The lidar 420 is also controlled to rotate right, and the field of view angle changes from the range shown by F3 in the figure to the range shown by F4. Similarly, the vehicle 400 turns left, as shown by the arrow L in FIG. 4, the lidar 420 rotates left, and the field of view angle of the lidar 420 shifts left. The lidar 410 is also controlled to rotate left, and the field of view angle of the lidar 410 shifts to the middle area.

[0096] The above embodiments can also use at least two lidars to improve the reliability or safety of the vehicle in the turning driving scene. By using the above control method, when the vehicle rotates, one of the lidars rotates in the turning direction, and the other lidar rotates in the middle area; the risk of blind area in the middle area in front of the vehicle due to the change of the field of view angle of the lidar rotating in the same direction is reduced, thereby improving the reliability or safety of the vehicle. In addition, when the user operates the vehicle, the requirement for the user to constantly switch attention can be reduced, and the user's concentration can stay in a certain direction for a longer time. When a blind area occurs, the detection of the lidar can be used to make up for it, reduce the operation complexity, and improve the user's experience.

[0097] Control mode three: In some embodiments of the present disclosure, the first lidar and the second lidar are rotatably mounted on the vehicle. Alternatively, the first lidar is rotatably mounted on the vehicle. The second lidar is fixedly mounted on the vehicle. The control method can include: controlling the first lidar to rotate in the same direction as the turning direction; the second lidar remains stationary. Please continue to refer to FIG. 3, for example, the vehicle 300 turns right, as shown by the arrow R in FIG. 3, the control lidar 310 rotates right, and the field of view angle changes from the range shown by F1 in the figure to the range shown by F2. The lidar 320 remains stationary, and the field of view angle remains the range shown by F3 in the figure. Similarly, the vehicle 300 turns left, as shown by the arrow L in FIG. 3, the lidar 320 rotates left, and the field of view angle of the lidar 320 changes from the range shown by F3 in the figure to the range shown by F4. The lidar 310 remains stationary, and the field of view angle remains the range shown by F1 in the figure.

[0098] The above embodiments can also use at least two lidars to improve the reliability or safety of the vehicle in a turning driving scenario. With the above control method, one of the lidars can be turned to the turning direction while the other lidar remains stationary, so as to balance the detection performance in the middle region and the non-turning direction. When the vehicle is turning, the field of view angle of the lidar that turns in the same direction changes, improving the detection performance in the turning direction. Meanwhile, the field of view angle of the other lidar remains unchanged, so that the field of view angle of the other lidar can follow the vehicle driving and change accordingly. This reduces the requirement for simultaneous control of the lidars, takes into account the detection in the middle and non-turning directions, and can also improve the reliability and safety of the vehicle. In addition, when the user operates the vehicle, the requirement for constantly switching the user's attention can also be reduced, and the user can reduce the frequency of switching the viewing angle, reduce the operation complexity, and improve the user experience.

[0099] In some embodiments, the angle of rotation of the lidar can include the angle between the center of the FOV of the lidar before and after the rotation of the lidar toward the horizontal plane. The angle of rotation of the lidar can also include the angle between the edge of the FOV of the lidar before and after the rotation of the lidar toward the horizontal plane. The angle of rotation of the lidar can also include the angle between the center of the FOV of the lidar before and after the rotation of the lidar toward another plane, such as a vertical plane. The embodiments of the present disclosure do not limit the size of the angle of rotation of the first lidar and the angle of rotation of the second lidar, and the angle of rotation of the first lidar and the angle of rotation of the second lidar can be the same or different. The embodiments of the present disclosure also do not limit the range of the field of view angle of the first lidar and the second lidar. The range of the field of view angle of the first lidar and the range of the field of view angle of the second lidar can be the same or different. For example, the angle A1 of rotation of the lidar 310 and the angle A2 of rotation of the lidar 320 can be the same or different. The field of view range F1 or F2 of the lidar 310 and the field of view range F3 or F4 of the lidar 320 can be the same or different.

[0100] In some embodiments of the present disclosure, the angle of rotation of the lidar (including the first lidar or the second lidar) can be set according to the range of the field of view angle of the lidar. When the range of the field of view angle of the lidar is small, a smaller angle of rotation can be set; when the range of the field of view angle of the lidar is large, a larger angle of rotation can be set. The range of the field of view of the lidar after rotation, or the total range of the field of view of the first lidar and the second lidar, can still cover the central region in front of the vehicle, improving the detection in the central region. For example, the angle of rotation of the lidar can be 1 / 5 to 1 / 2 of the range of the field of view angle of the lidar.

[0101] In some embodiments of the present disclosure, the above vehicle includes a vehicle. By controlling the steering of the lidar 400 according to the driving scene of the vehicle, the "dynamic blind area" generated by the vehicle during driving due to the influence of road line type, slope, building, greenery, and changes in relative position with other vehicles can be better adapted, helping the driver to avoid road risks in advance, cooperating with the alarm system set on the vehicle, and warning the driver in time to improve driving safety and reduce accident risk. Especially in the present age when full-automatic driving and semi-automatic driving are gradually popular, the control method of the lidar 400 can realize automatic steering of the lidar 400 without the need for manual steering by the user, and has strong practicability, ensuring driving safety while taking into account the convenience of driving operation, and has strong practicability.

[0102] In some embodiments of the present disclosure, the vehicle can provide a selection or configuration interface to the user, and the user can select any of the above control modes according to his own driving habits, thereby increasing the flexibility of the lidar for the user's use scenario. At this time, the above control method can further include: determining the control mode of the lidar; and enabling the above control mode one, control mode two, or control mode three based on the control mode of the lidar. In some embodiments of the present disclosure, the user can select the control mode through the control interface provided by the vehicle screen; or the user can select the control mode through voice or gesture instructions; or the user can select the control mode through a remote mobile phone or other portable electronic product. The present disclosure does not limit the determination of the control mode of the lidar, which can include: receiving an instruction signal, which can be input by the user through any of the above methods. The information is converted into an instruction signal and provided to the controller executing the above control method.

[0103] In some embodiments of the present disclosure, please continue to refer to FIGS. 3 and 4, the first lidar and the second lidar can be arranged on the two sides of the front side of the top of the vehicle or the two sides of the front face of the vehicle. In some embodiments of the present disclosure, the third lidar and the fourth lidar can be rotatably installed on the two sides of the rear side of the top of the vehicle or the two sides of the rear face of the vehicle. The third lidar and the fourth lidar can also be controlled in a similar manner.

[0104] The control of the rotation angle of the lidar can include one or more of the horizontal angle or the vertical angle. For example, for an aircraft, one or more of the horizontal field of view angle or the vertical field of view angle of the aircraft can be controlled to be offset when the aircraft is steered.

[0105] In some embodiments of the present disclosure, the controller performing the above control method can also enable or disable the rotation control of the lidar according to the driving scene of the vehicle. For example, the above control method further includes: determining the driving scene of the vehicle; and enabling the rotation control of the lidar according to the driving scene. The driving scene can include, but is not limited to, any one of the driving scenes described in the above embodiments. In some embodiments of the present disclosure, the rotation control of the lidar can be enabled in the driving scene of an urban road or a mountain road. The rotation control of the lidar can be disabled in the driving scene of a highway. The rotation control of the lidar can be enabled or disabled in the driving scene of an elevated road. In some embodiments of the present disclosure, the rotation control of the lidar can be enabled in the driving scene of a turn (including lane changing, turning, or U-turn). For example, based on the navigation information of the vehicle, it can be determined that the vehicle is about to make a turn, and then the rotation control of the lidar is enabled. In the case of enabling the rotation control of the lidar, the power consumption of the control of the lidar can be reduced, and in addition, in the case of simple driving such as high-speed driving, the probability of rotation of the lidar can be reduced, and the power consumption can be reduced.

[0106] For example, when the vehicle is driving at a high speed, the probability of risk occurring on both sides of the vehicle is low, and the lidar can remain in the original direction. For example, the field of view angle of the lidar is directed to the front or side front of the driving direction of the vehicle, at this time, the lidar concentrates on detecting the area farther in front of the vehicle. When the vehicle is driving in a more complex area (for example, an urban road or a mountain road), the rotation control of the lidar can be enabled, so that in the turning scene, the field of view angle of the lidar can be deflected by a certain angle to the side of the vehicle, the detection capability of the lidar in the lateral direction of the vehicle is increased, the visible range of the lidar in the lateral direction of the vehicle is increased, and the lateral blind area is reduced, so that the vehicle can avoid objects in the driving process in time, and the reliability or safety of the driving of the vehicle is improved.

[0107] The present disclosure also provides, in some embodiments, a controller of a lidar, configured to perform any one of the above control methods. The controller can include units or means for performing each step of the above control method. For example, FIG. 5 shows an example block diagram of a controller consistent with some embodiments of the present disclosure. The controller 500 includes a processor 510 and an interface circuit 520, the processor 510 can perform any one of the control methods provided in the above embodiments, and the radar control instruction for controlling the rotation of the lidar is sent through the interface circuit 520.

[0108] In some embodiments of the present disclosure, the controller can include units or means for performing the respective steps in the above control method. For example, FIG. 6 shows an example block diagram of a controller consistent with some embodiments of the present disclosure. Referring to FIG. 6, the controller 600 includes a determination unit 610 and a control unit 620. The determination unit 610 can determine the operating state of the vehicle, and the control unit 620 can control the rotation of the lidar according to the operating state of the vehicle.

[0109] In some embodiments, the controller 600 can be installed on the vehicle. For example, the determination unit 610 can determine the signal indicating the operating state of the vehicle based on the control signal of the vehicle.

[0110] The above division of units is only a logical division of functions, and in actual implementation, all or part of the units can be integrated into one physical entity, or can be physically separated. In addition, the above units can be implemented in the form of processor calling software; for example, the controller includes a processor, the processor is connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any one of the above control methods or to implement the functions of the above units, wherein the processor includes a general-purpose processor such as a central processing unit (CPU), and the memory can be an internal memory of the controller or an external memory of the controller. Alternatively, the above units can be implemented in the form of hardware circuit, and the functions of part or all of the units can be implemented by designing the hardware circuit, which can be understood as one or more processors; for example, in some embodiments, the hardware circuit can include an application specific integrated circuit (ASIC), and by designing the logical relationship between the elements in the circuit, the functions of any one of the above control methods or all or part of the above units can be implemented. In some embodiments, the hardware circuit is a hardware circuit that can be implemented by a programmable logic device (PLD), such as a field programmable gate array (FPGA), which can include a large number of logic gate circuits, and the logical relationship between the logic gate circuits is configured by a configuration file, so as to implement any one of the above control methods or part or all of the units. The units of the above controller can all be implemented in the form of processor calling program, or all be implemented in the form of hardware circuit, or part be implemented in the form of processor calling program and the remaining part be implemented in the form of hardware circuit.

[0111] In embodiments of the present disclosure, the processor is a circuit with processing capability of signals. In some embodiments, the processor can be a circuit with instruction reading and running capability, such as a CPU, a microcontroller unit (MCU), a graphics processing unit (GPU), a digital signal processor (DSP), or the like. In other embodiments, the processor can implement certain functions through a logic relationship of a hardware circuit, which is fixed or reconfigurable, such as an ASIC or a PLD, for example, an FPGA. In the reconfigurable hardware circuit, the processor loads a configuration document to implement the hardware circuit configuration. It can be understood that the process of loading the configuration document by the processor is equivalent to the process of loading the instructions by the processor to implement the functions of the above units.

[0112] The units in the above controller can be integrated together or implemented independently. In some embodiments, the units are integrated together to implement a system on chip (SoC). The SoC can include at least one processor for implementing any of the above control methods or implementing the functions of the units of the above controller.

[0113] The controller provided by the embodiments of the present disclosure can include one or more processors of a vehicle. Taking a vehicle as an example, the controller includes, for example but not limited to, a domain control unit (DCU), an electronic control unit (ECU), a vehicle central computer (VCC), a zonal / zone ECU (or zone control unit, ZCU), a micro control unit (MCU), a vehicle control unit (VCU), or the like. The domain control unit includes, for example, a vehicle domain controller (VDC), a cockpit domain controller (CDC), or a domain controller for advanced driving assistance system / autonomous driving, or the like.

[0114] FIG. 7 shows a schematic diagram of a vehicle perception method.

[0115] Referring to FIG. 7, a laser radar 710 is installed in a front region of a vehicle 700, for example, above a middle position of a roof windshield. The laser radar 710 can have a field of view angle less than 180°. For example, the field of view angle of the radar 710 is 120-150°, and the field of view angle shown in FIG. 7 is 120°. The farthest detection distance 830 of the laser radar 710 is in a range of 150-300 m, or even in a range of 100-500 m. The target field of view angle of the radar 710 is set towards the front of the vehicle 700, so that the environment in front of the vehicle 700 can be detected.

[0116] The above vehicle perception manner can meet the needs of medium-level intelligent driving levels or high-speed driving scenarios, for example, highway driving. Through the detection of the driving environment in front of the radar 710, potential dangers in front can be identified in time, and planning can be made accordingly.

[0117] In GB / T 40429-2021 “Classification of Vehicle Driving Automation”, the degree of automation of vehicle driving is divided into 6 levels from 0 to 5. High-level intelligent driving includes 3-4 level automatic driving. 3 level automatic driving needs to realize high-speed navigation auxiliary driving and urban navigation auxiliary driving in driving scenarios, and memory parking in low-speed parking scenarios. In addition to realizing all the above functions, 4 level automatic driving can also realize autonomous valet parking in parking scenarios.

[0118] High-level intelligent driving requires vehicles to adapt to more complex and diverse driving scenarios. The above existing vehicle perception manner detects the environment in a certain region in front of the vehicle, which is difficult to meet the perception needs of high-level intelligent driving in complex and variable environments.

[0119] To solve the above problems, the present disclosure provides a corresponding vehicle perception scheme.

[0120] A plurality of laser radars are distributed on a vehicle. The field of view angle ranges of at least two laser radars at least partially overlap. The at least two laser radars include a first laser radar. The first laser radar is movably arranged relative to the vehicle. Based on the change information of the vehicle, a corresponding radar is controlled to perform a corresponding operation to adjust the target field of view angle range of the first laser radar. The vehicle can achieve a wider perception range with fewer radars, adapt to the diversified needs of detection capability during vehicle motion, and meet the perception needs of the vehicle in complex and variable environments.

[0121] For better understanding and implementation by those skilled in the art, the following will be described in detail by some exemplary embodiments in combination with the drawings.

[0122] Embodiments of the present disclosure provide a vehicle perception system. Referring to a structural schematic diagram of a vehicle perception system shown in FIG. 8, the vehicle perception system 800 includes a plurality of lidars 811-81N (N≥2), a controller 820 and an executor 830.

[0123] The plurality of lidars 811-81N are distributed on the vehicle. The field of view angle ranges of at least two lidars at least partially overlap. The first lidar 812 is movably arranged relative to the vehicle.

[0124] The controller 820 can determine the running state of the vehicle. The running state includes, for example, a speed state, a steering state, a driving scene, etc. When the running state of the vehicle changes, the controller 820 can determine change information. The controller 820 can also generate and output corresponding radar control instructions based on the change information of the vehicle. The change information includes at least one of vehicle motion change information and environmental change information.

[0125] In some embodiments, the running state of the vehicle includes a signal that can indicate the running state of the vehicle. For example, the signal that can indicate the running state of the vehicle can be determined from the controller of the vehicle or other sensors mounted on the vehicle. In some embodiments, the change information of the vehicle includes a signal that can indicate the change of the running state of the vehicle. For example, the signal that can indicate the change of the running state of the vehicle can be determined from the controller of the vehicle or other sensors mounted on the vehicle.

[0126] For example, the controller 820 can be mounted on the vehicle. The controller 820 can be the controller of the vehicle. The controller 820 can also be connected with the controller of the vehicle or other sensors on the vehicle. The controller 820 can determine the signal that can indicate the change of the running state of the vehicle based on the control signal of the vehicle. Alternatively, the controller 820 can determine the signal that can indicate the change of the running state of the vehicle based on the output signal of other sensors.

[0127] The executor 830 is adapted to control the corresponding lidar to perform corresponding operations according to the radar control instructions, so as to adjust the target field of view angle range of the first lidar 812.

[0128] It should be noted that FIG. 8 is only an example, in which any one of the lidars can be the first lidar.

[0129] The principle of the above vehicle perception system 800 is briefly described as follows:

[0130] The controller 820 obtains change information of the vehicle, such as at least one of vehicle motion change information and environment change information. The change information of the vehicle indicates that the driving state of the vehicle has changed autonomously or passively, or that the environment in which the vehicle is located has changed significantly. The perception capability of the vehicle can have different requirements. The controller 820 generates corresponding radar control instructions to the executor 830 based on the change information of the vehicle. The executor 830 controls the corresponding radar to perform corresponding operations according to the radar control instructions. The field of view angle range of at least two lidars of the plurality of lidars at least partially overlaps. The at least two lidars include a first lidar. The first lidar is movably arranged relative to the vehicle. According to the radar control instructions, controlling the corresponding first lidar to perform corresponding operations can adjust the range of the overlapping field of view angles of the plurality of lidars. The target field of view angle range of the first lidar 812 can be adjusted based on the change information of the vehicle. The first lidar 812 performs detection based on the adjusted target field of view angle range, which can meet the perception requirements required by the change information.

[0131] The above vehicle perception scheme, the controller, the executor, and the plurality of lidars including the first lidar cooperate. During vehicle motion, the target field of view angle range of the first lidar can be adaptively adjusted based on the change information of the vehicle. The vehicle can achieve a wider perception range with fewer lidars, and adapt to the diversified detection requirements during vehicle motion, meeting the perception requirements of the vehicle in complex and variable environments.

[0132] The target field of view angle range can be the field of view angle range that the plurality of lidars as a whole can cover, or the field of view angle range covered by any one or more lidars.

[0133] In some embodiments of the present disclosure, the change information of the vehicle can be generated based on vehicle information measured by sensors on the vehicle. It can also be generated based on internal and external environment information measured by sensors on the vehicle. It can also be generated based on operation instructions input by a user such as a driver or based on driving operations of the driver. The vehicle sensors can include at least one of a lidar, a millimeter wave radar, an ultrasonic radar, etc. and any one or more of a speedometer, a camera, etc.

[0134] As an optional example, the vehicle motion change information can include at least one of the following types of information:

[0135] Intelligent driving mode switching information;

[0136] Driving speed change information;

[0137] Driving direction change information; or

[0138] The scene change information corresponds to a change in the driving scene. Different driving scenes correspond to different driving environments.

[0139] For example, the driver inputs a voice or manual switching instruction, indicating that the vehicle switches between the medium-level intelligent driving mode and the high-level intelligent driving mode. The corresponding intelligent driving mode switching information can be generated. The mode switching information can include the specific mode before switching and the specific mode after switching.

[0140] For another example, the driving speed can be adjusted and controlled according to the road driving indication information and the specific road conditions, or the subjective judgment and operation of the driver. The driving speed changes. For example, when the driving speed exceeds or is lower than the set speed threshold (for example, exceeds 80Km / h), or the driving change amplitude exceeds the set change amplitude threshold, the corresponding driving speed change information can be generated. The driving speed change information can include the changed speed information, or can include the speed information before changing and the speed information after changing, or can include the change amplitude information. Here, the specific parameters in the driving speed change information are not limited, as long as the controller can make effective decisions based on the driving speed change information.

[0141] In addition, the vehicle usually needs to pass through multiple roads in different directions when driving to the destination. The vehicle often needs to turn (for example, left turn, right turn, or U-turn) when driving from one road to another. At this time, the corresponding driving direction change information can also be generated. The driving direction change information can include turning information, such as left turn, right turn, or U-turn. The driving direction change information can also be embodied by a specific turning angle.

[0142] In some embodiments of the present disclosure, the vehicle can also drive in different driving environments. For example, when driving from city A to city B, it can first drive on the urban road in city A, then drive on the expressway or highway, and then drive on the urban road in city B. The driving environments of the urban road and the expressway are very different. There are different requirements for driving speed or mode. The driving process can involve switching between different driving scenes. When the vehicle sensor (such as at least one of the camera or the laser radar) senses the change in the driving environment, the corresponding scene change information can be generated. The scene change information can include the driving scene information after switching, or can include other more information to facilitate the decision of the controller.

[0143] It can be understood that the above is only an example of providing a scenario change, and is not intended to limit the scenario change information. For example, the vehicle can also be in at least one of a parking scenario, a road congestion scenario, a school vicinity scenario, an intra-community driving scenario, and the like. In some embodiments of the present disclosure, a corresponding scenario can be defined or set according to the environmental characteristics of the vehicle, and a personalized scheme for at least one of the perception system and the control system of the vehicle in the corresponding scenario can be set.

[0144] As an optional example, the environmental change information can include at least one of the following types of information:

[0145] road condition change information; or

[0146] road surface slope change information.

[0147] In some embodiments of the present disclosure, the road condition change information can be used to represent the change in road conditions. For example, from smooth to congested, or obtaining unexpected information that a traffic accident or construction occurs in front of the road.

[0148] In some embodiments of the present disclosure, there can be a large change in road surface slope during vehicle driving. For example, from a plain area to a mountainous area, or during driving in a mountainous area. The road surface slope can change greatly at any time. For example, uphill or downhill, or the slope change amplitude is also very different during uphill or downhill. Accordingly, corresponding road surface change information can be generated.

[0149] As an optional example, the road surface slope change information can be calculated from the data of the ground line detected by the radar. It can be understood that it can also be obtained by other perception devices on the vehicle. For example, it can be obtained by at least one of a camera, an accelerometer, a vehicle speed sensor, a vehicle torque sensor, and the like.

[0150] In some embodiments of the present disclosure, each component of the vehicle perception system described above can have various different implementations. In order for those skilled in the art to better understand and implement, some specific application examples are described in detail below.

[0151] In some embodiments, the first laser radar 812 is adjustable in pose relative to the vehicle. The controller 820 is adapted to generate at least one of a corresponding radar switching instruction and a pose adjustment instruction based on the change information obtained by the vehicle. The actuator 830 is adapted to control the corresponding radar (which can be at least one of the radars 811-81N) to be turned on or off according to the radar switching instruction. In some embodiments, the actuator 830 is adapted to drive the corresponding first laser radar 812 to adjust to a target pose according to the pose adjustment instruction.

[0152] In some embodiments of the present disclosure, the first lidar 812 is adapted to rotate relative to the vehicle. The rotation includes at least one of horizontal rotation and vertical rotation. The controller 820 is adapted to generate a corresponding pose adjustment instruction based on the change information of the vehicle. The actuator 830 is adapted to drive the corresponding first lidar 812 to perform the rotation according to the pose adjustment instruction, so that the corresponding first lidar 812 is adjusted to a target pose.

[0153] The vehicle perception system is exemplarily described below in combination with some change information of the vehicle.

[0154] For example, if a lidar on the vehicle is turned on. The target field of view angle of the lidar is directed towards the front of the vehicle. When the vehicle turning information is obtained, the controller 820 generates a lidar rotation instruction to the actuator 830. The actuator 830 controls the turned-on lidar to horizontally rotate to the inside of the turning, so that the target field of view angle of the lidar is deflected to the turning direction.

[0155] For another example, the vehicle has two lidars in an open state. The vehicle operates in a dual-lidar mode. The target field of view angles of the two lidars are both directed towards the front of the vehicle. When the vehicle turning information is obtained, the controller 820 can generate a lidar rotation instruction to the actuator 830. The actuator 830 can control the two lidars to horizontally rotate to the left and right sides, respectively. After the turning is completed, the controller 820 can further generate a corresponding lidar control instruction to the actuator 830 according to at least one of the change information after the turning, such as vehicle speed change information, scene change information. The lidar control instruction controls the corresponding lidar to perform a corresponding operation.

[0156] In some embodiments of the present disclosure, as shown in FIG. 9A, a target field of view angle range diagram of multiple lidars in a vehicle perception system. The front area of the vehicle 900, for example, the first lidar 910 and the second lidar 920 are symmetrically arranged on both sides of the vehicle body. The detection distance D1 of the first lidar 910 and the detection distance D2 of the second lidar 920 can be the same or different. The field of view angle range of the first lidar 910 and the field of view angle range of the second lidar 920 can be the same or different.

[0157] For example, as shown in FIG. 9A, the first lidar 910 and the second lidar 920 each has a field of view angle of 120°. The target field of view angle is towards the front of the vehicle 900. The vehicle 900 is at a crossroad at this moment. Pedestrians are likely to stand or pass by the crossroad. Based on the steering wheel turning information, the controller 820 obtains the vehicle left-turn information. Based on the vehicle left-turn information, the controller 820 generates a lidar turning instruction. The instruction indicates that the first lidar 910 is to be turned left. The actuator 830 controls the first lidar 910 to be turned left horizontally based on the instruction. As shown in FIG. 9B, a schematic diagram of the target field of view angle range of the movable lidar 910 in the vehicle perception system of the vehicle 900 after the turning is shown. By comparing FIG. 9A and FIG. 9B, it can be seen that by controlling the first lidar 910 to be turned left horizontally, the target field of view range of the first lidar 910 can be adjusted to the turning area. In this way, the blind area during the turning can be reduced or eliminated, and pedestrians or other objects that can affect the driving safety in the turning area can be detected in time, thereby ensuring the driving safety. As an example, the turning angle of the first lidar 910 is 60°.

[0158] In some embodiments of the present disclosure, the actuator 830 can be one or multiple. For example, one actuator is configured for each lidar. In this way, the controller 820 can output the generated lidar control instruction to the corresponding actuator. The corresponding actuator controls the lidar coupled thereto to perform the corresponding operation, such as turning on or off, or adjusting the posture, or turning on while performing the posture adjustment operation.

[0159] For another example, when the vehicle is running at a running speed higher than a set threshold, for example, at a speed of 70-80 Km / h, one lidar is turned on and the target field of view angle thereof is towards the front of the vehicle. When the controller 820 obtains that the driving speed is lower than the set threshold (for example, the threshold is 60 Km / h), the controller 820 can send a lidar turning-on instruction to the actuator 830. The actuator 830 drives another lidar arranged on the vehicle to be turned on according to the lidar turning-on instruction. The orientation of the other lidar overlaps with the orientation of the previously turned-on lidar. The dual-lidar target field of view angle splicing mode is started.

[0160] In some examples, if the vehicle is traveling at a speed above a set threshold, such as 70-80 Km / h, two lidars are turned on. The target field of view of each of the two lidars is directed forward of the vehicle. The target field of view of the two lidars partially overlaps. If the controller 820 obtains a speed of the vehicle below a set threshold, such as 40 Km / h, the controller 820 can send a radar turning instruction to the actuator 830. The actuator 830 can drive the movable lidar on the vehicle to turn a preset angle to the side according to the radar turning instruction. In this way, the range of the overlap of the target field of view of the two lidars can be reduced, and the total target field of view of the two lidars can be expanded. If the two lidars are movably arranged relative to the vehicle, the actuator 830 can control the two lidars to turn outwardly to the side according to the radar turning instruction. One of the two lidars can also be controlled to turn outwardly to the side.

[0161] In some other examples, when the vehicle is traveling on a highway, an expressway, or the like, one or two lidars are used in a forward mode. The target field of view of the lidar is directed forward of the vehicle. If the controller 820 obtains a scenario in which the vehicle is traveling on a city road or detects a pedestrian, the controller 820 can generate a corresponding radar control instruction. For example, an instruction for controlling the other lidar to perform an opening operation or to turn outwardly by a corresponding angle can be generated. The range of the target field of view of the vehicle as a whole can be expanded.

[0162] In some other specific examples, a forward lidar can be controlled to turn upwardly when the vehicle is climbing a slope. The corresponding forward lidar can be controlled to turn downwardly when the vehicle is descending a slope. When the vehicle obtains slope change information, such as a slope of 30° or more, a radar vertical turning instruction can be generated. If one lidar is turned on before, as an optional example, the instruction can indicate that the lidar is to be turned vertically upwardly by 30°. If two lidars are turned on before, and the two lidars have partially overlapping target field of view in front of the vehicle, as an optional example, the instruction can indicate that the two lidars are to be turned vertically upwardly by 30°. Alternatively, one of the two lidars can be controlled to be turned vertically upwardly by 30°. Alternatively, one of the two lidars can be controlled to be turned upwardly by 30°, and the other lidar can be controlled to be turned vertically downwardly by 10°. In this way, the range of the target field of view of the two lidars in the vertical direction can be expanded.

[0163] It can be understood that the controller 820 can also generate corresponding control instructions according to specific road conditions and road slope change information. For example, the corresponding radars are controlled to adjust the pose in the horizontal direction and the vertical direction, and the target field of view angle range is matched.

[0164] In some embodiments of the present disclosure, the distance between the plurality of lidars is determined based on at least one of the width of the vehicle, the mounting position on the vehicle, and the detection parameters of the lidars.

[0165] In some optional examples, the plurality of lidars includes a first lidar and a second lidar. The first lidar and the second lidar are movably arranged relative to the vehicle. The first lidar and the second lidar are symmetrically distributed in the front region of the vehicle. The field of view angle ranges of the first lidar and the second lidar at least partially overlap.

[0166] For example, in some application scenarios, based on the width of the vehicle, a third lidar is further included on the vehicle. As an optional example, the third lidar is movably arranged relative to the vehicle. The third lidar can be arranged in the middle region of the front of the vehicle. The first lidar and the second lidar can be symmetrically distributed on both sides of the third lidar. For example, the first lidar and the second lidar are symmetrically arranged at the left and right positions of the vehicle lights, or symmetrically arranged on both sides above the front windshield of the vehicle, or symmetrically arranged at the left and right rearview mirrors. The field of view angle ranges of the first lidar and the second lidar partially overlap. In other optional examples, the field of view angle range of the third lidar partially overlaps with the field of view angle range of one of the first lidar and the second lidar. Alternatively, the field of view angle range of the third lidar partially overlaps with the field of view angle range of the first lidar on one side of the vertical or horizontal direction, and partially overlaps with the field of view angle range of the second lidar on the other side of the vertical or horizontal direction.

[0167] In other optional examples, the first lidar and the second lidar are arranged adjacent to each other. The field of view angle ranges of the first lidar and the second lidar partially overlap in the front region of the vehicle. In autonomous driving or assisted driving, the front region of the vehicle is a region of interest or an area of interest where obstacle information is relatively concentrated. The target field of view angle ranges of the first lidar and the second lidar partially overlap in the front region of the vehicle, which can enhance the detection capability of the first lidar and the second lidar for the front region of the vehicle, and provide more and higher-precision detection information for the vehicle.

[0168] For example, in some application scenarios, based on the width of the vehicle, the first and second lidars are arranged on the vehicle. The first and second lidars are symmetrically distributed in the front area of the vehicle. The field of view angle ranges of the first and second lidars partially overlap in the front area of the vehicle. For example, the first and second lidars are symmetrically arranged at the positions of the left and right vehicle lights, or symmetrically arranged above the front windshield of the vehicle, or symmetrically arranged on both sides of the vehicle body.

[0169] In some embodiments of the present disclosure, the detection parameters of the first and second lidars can be the same or different. In some embodiments, the detection parameters of the lidar can include one or more of the field of view angle range, the far detection capability, or the resolution. The detection parameters of at least part or all of the plurality of lidars on the vehicle can be completely the same, completely different, or partially the same. For example, two front-facing lidars are arranged on the vehicle, and the detection parameters of the two front-facing lidars can be completely the same. For example, the same field of view angle range, far detection capability, resolution, and the like. The two front-facing lidars are arranged to have an overlapping detection range in the front area of the vehicle, and the overlapping range is adjustable. On the one hand, the overlapping target field of view angle range of the two front-facing lidars can achieve encryption of the detection information in the front area of the vehicle. It can have higher angular resolution and obtain more target features in the front area, providing more data for intelligent driving decision-making. On the other hand, by driving at least one of the two front-facing lidars to rotate outward or up and down by the actuator, the total target field of view angle range of the plurality of lidars can be expanded, providing more extensive target information for intelligent driving decision-making.

[0170] In some embodiments of the present disclosure, the rotation angle of the first lidar can be determined based on at least one of the following: the detection parameter of the first lidar, the acceptable front-facing far detection capability of the vehicle after the attitude adjustment of the first lidar, and the acceptable blind area distance.

[0171] As an optional example, the distance between the plurality of lidars on the vehicle is determined based on at least one of a mounting position of the lidar, a width of the vehicle, a number of lidars, a detection parameter of the lidar, and the like. It is understood by those skilled in the art that, in the target field of view angle range of the lidar, the far detection capability of the edge region angle is generally weaker than that of the center region angle. As shown in FIG. 10, in the front region of the vehicle 1000, for example, the first lidar 1100 and the second lidar 1200 are symmetrically arranged on both sides of the vehicle body. If the first lidar 1100 and the second lidar 1200 are rotated to the sides of the vehicle 1000, the far detection capability of the first lidar 1100 and the second lidar 1200 in the front region of the vehicle 1000 is relatively reduced compared to before rotation. In some embodiments of the present disclosure, the rotation angle of the first lidar 1100 and the second lidar 1200 can be determined according to an acceptable far detection capability or far detection attenuation. The far detection attenuation is, for example, 10-20%. The far detection capability of the lidar after rotation towards the front of the vehicle is reduced by 10-20% compared to before rotation. For example, it is acceptable that the far detection capability of the lidar after rotation towards the front of the vehicle is reduced by 20%. For example, the controller determines that the rotation of the first lidar 1100 and the second lidar 1200 to the sides by 30° will cause the front far detection capability to attenuate by 20%. The controller can generate instructions for controlling the first lidar 1100 and the second lidar 1200 to be rotated horizontally to the left and right by 30°, respectively. Based on the instructions, the actuator can drive the first lidar 1100 to be rotated horizontally to the left by 30°, and drive the second lidar 1200 to be rotated horizontally to the right by 30°.

[0172] It should be noted that the relative relationship between the field of view angle range and the far detection capability of each lidar is different. The rotation angle can be determined based on at least one of the position of the lidar, the specific detection parameter, and the acceptable far detection capability (or the acceptable far detection attenuation degree).

[0173] As an optional example, the rotation angle of the first lidar can be adapted to the turning angle of the vehicle. The controller can detect or receive the turning angle information of the vehicle, and generate a pose adjustment instruction, such as a rotation instruction. The actuator drives the first lidar to rotate according to the pose adjustment instruction. The rotation direction of the first lidar can be consistent with the turning direction of the vehicle. The rotation angle of the first lidar can be the same as or proportional to the turning angle of the vehicle.

[0174] Continuing to refer to FIG. 10, the overlapping of the two fan-shaped field of view ranges of the first lidar 1100 and the second lidar 1200 can result in a detection blind zone in front of the vehicle 1000. In some optional examples, the controller needs to consider the blind zone distance d (e.g., an acceptable blind zone distance) when determining the horizontal rotation angle of the first lidar or the second lidar. The greater the horizontal rotation angle of the first lidar or the second lidar, the greater the blind zone. Therefore, in some embodiments of the present disclosure, the controller can determine the maximum horizontal rotation angle of the first lidar or the second lidar according to the acceptable blind zone distance d. In some embodiments, the acceptable blind zone distance d can be any value within 1-5 m. For example, the acceptable blind zone distance d is 1 m, 2 m, 3 m, 4 m, or 5 m, etc.

[0175] Similarly, the rotation angle of the first lidar in the vertical direction can also be determined with reference to the acceptable blind zone distance after the first lidar is rotated in the vertical direction. The greater the upward vertical rotation angle of the first lidar, the greater the blind zone.

[0176] In some embodiments, the rotation speed of the lidar can be preset. For example, the lidar rotates at a constant speed. The rotation angle of the lidar per unit time can be preset, so that the lidar rotates in the rotation direction at a preset speed. For another example, the rotation time of the lidar can be preset. The lidar completes the rotation within the preset time. The rotation speed of the lidar can be determined based on the rotation angle and the preset time.

[0177] In order for those skilled in the art to better understand and implement, some specific examples of the arrangement of the first lidar on the vehicle are given below.

[0178] In some optional examples, the vehicle is provided with a mounting device. One end of the mounting device is adapted to be fixed to the vehicle. The mounting device, for example, includes a bracket. The mounting device is provided with a mounting rack. The first lidar is rotatably arranged on the mounting rack to rotate relative to the vehicle.

[0179] In some embodiments of the present disclosure, the mounting device is adapted to be arranged on the vehicle body or inside the vehicle. The mounting rack is adapted to be rotatably connected with at least one of the bottom, the top, the two sides, or the back of the first lidar.

[0180] In some specific applications, the mounting device can be a tripod or a fixed base, etc. The bottom of the tripod or the fixed base can be fixed to the outer surface of the vehicle, such as the roof, the handle on both sides of the vehicle body, the rearview mirror, the tail of the vehicle, etc. For example, it can be arranged in the front area of the vehicle, such as the lamp area. Or arranged below the windshield or above the roof wiper. The bottom of the tripod or the fixed base can also be fixed to the interior of the vehicle, such as the driver's seat.

[0181] As an optional example, a mounting bracket is arranged on the top of the mounting device, such as the top of the tripod or the fixed base. Optionally, the mounting bracket includes a receiving groove or a support. The first laser radar part or the whole can be rotatably arranged in the receiving groove. Or the bottom of the first laser radar is connected with the support and can rotate relatively.

[0182] In other specific applications, the mounting device can be a mounting seat or a mounting column extending outside the vehicle body. As an example, the mounting bracket can be arranged at the bottom end of the mounting seat or at the end of the mounting column. The mounting bracket can be rotatably arranged on the top, both sides or rear side of the radar.

[0183] In some embodiments of the present disclosure, the actuator can be arranged near the radar. For example, it can be arranged on the mounting device, such as the mounting bracket. As an optional example, for the first laser radar, the actuator can be electrically driven or hydraulically driven. For example, a rotating motor can be arranged on the mounting bracket of the mounting device through a fixed shaft. The first laser radar is fixedly connected with the rotor of the rotating motor. In this way, the rotating motor can rotate according to the instruction of the controller, and drive the first laser radar to the target view angle.

[0184] It should be noted that the first laser radar can also be mounted without the mounting device. For example, the first laser radar can be directly embedded and rotatably arranged in the reserved mounting position of the vehicle.

[0185] It can be understood that the plurality of laser radars can be arranged in at least one area of the front, both sides, rear or top of the vehicle. The direction of the plurality of laser radars can be determined according to at least one parameter, such as the specific position of the radar, the total number of radars, the size of the vehicle, the detection parameters of the plurality of laser radars, whether the plurality of laser radars are movable, etc. The embodiments of the present disclosure do not make any limitation on the specific distribution of the arrangement position, arrangement direction, arrangement density, etc.

[0186] In some embodiments of the present disclosure, the controller can be a controller of the vehicle driving system or can be a controller independent of the vehicle driving system. In specific applications, the controller can be a device with data processing capability such as a central processing unit (CPU), a microcontroller unit (MCU), a graphics processing unit (GPU), or a digital signal processor (DSP), a field programmable logic device (FPGA), or a combination of two or more of these devices.

[0187] In some other embodiments of the present disclosure, the controller can also be a hardware circuit designed for artificial intelligence, which can be understood as an application specific integrated circuit (ASIC), such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0188] For better understanding and implementation by those skilled in the art, the present disclosure also provides a corresponding vehicle perception method, wherein the vehicle can include a plurality of lidars. The plurality of lidars are distributed on the vehicle. The field of view of at least two lidars at least partially overlaps. The at least two lidars include a first lidar. The first lidar is movably arranged relative to the vehicle. The specific arrangement of the plurality of lidars can refer to the foregoing embodiments and will not be described here.

[0189] Referring to the flowchart of the vehicle perception method shown in FIG. 11, in the embodiments of the present disclosure, the vehicle perception can be implemented by the following steps.

[0190] S1, obtaining change information of the vehicle. The change information includes at least one of vehicle motion change information and environment change information.

[0191] In some embodiments of the present disclosure, the change information of the vehicle can be obtained by a controller. The change information of the vehicle is at least one of vehicle motion change information and environment change information. The change information of the vehicle indicates that the driving state of the vehicle has changed autonomously or passively, or the environment in which the vehicle is located has changed greatly.

[0192] In some embodiments of the present disclosure, the change information of the vehicle can be generated based on vehicle information measured by sensors on the vehicle, can be generated based on internal and external environment information measured by sensors on the vehicle, and can also be generated based on operation instructions input by a user such as a driver or based on driving operations of the driver. The vehicle sensors can include at least one of a laser radar, a millimeter wave radar, an ultrasonic radar, and the like, and can also include any one or more of a speedometer, a camera, and the like.

[0193] As an optional example, the vehicle motion change information can include at least one of the following types of information:

[0194] Intelligent driving mode switching information;

[0195] Driving speed change information;

[0196] Driving direction change information; or

[0197] Scene change information. Different scenes can correspond to different driving environments in the scene change information.

[0198] As an optional example, the environment change information can include at least one of the following types of information:

[0199] Road condition change information; or

[0200] Road surface slope change information.

[0201] S2, generating a corresponding radar control instruction based on the change information.

[0202] In embodiments of the present disclosure, the radar control instruction can be generated based on the distribution of the laser radars on the vehicle and the current field of view angle range according to the change information. The target field of view angle range of the plurality of laser radars can be adjusted to meet the perception requirements required by the change information.

[0203] In some embodiments of the present disclosure, if the first laser radar is adjustable relative to the pose of the vehicle. In step S2, at least one of a radar switch instruction and a pose adjustment instruction can be generated based on the change information.

[0204] As an optional example, if the first laser radar is adapted to rotate relative to the vehicle. It can be horizontal rotation, vertical rotation, or both horizontal rotation and vertical rotation. The pose adjustment instruction can be generated based on the change information.

[0205] S3, driving the corresponding radar to perform corresponding operations according to the radar control instruction to adjust the target field of view angle range of the plurality of laser radars.

[0206] In some embodiments of the present disclosure, corresponding to the step S2, in step S3, the radar can be controlled to be turned on or turned off according to the radar switch instruction. In some embodiments, the first laser radar can be driven to adjust to the target pose according to the pose adjustment instruction.

[0207] As an optional example, corresponding to the step S2, in step S3, the first laser radar can be driven to perform the rotation to adjust to the target pose according to the pose adjustment instruction generated in step S2.

[0208] The specific implementation of the vehicle perception method in the embodiments of the present disclosure can refer to the specific example implementation of the vehicle perception system described above, which will not be described in detail here.

[0209] In some embodiments of the present disclosure, the above steps can be partially or entirely executed by a computer application. As an optional example, the above steps can be implemented by a controller and an actuator in cooperation with a software. For example, the vehicle perception system adopted includes a controller and an actuator, the controller can be connected with a memory, the memory stores instructions, and the controller can call the instructions stored in the memory to realize the functions of any one of the methods or part of the steps in the above embodiments. As some optional examples, the steps S1-S2 can be executed by the controller, and the step S3 can be executed by the actuator. As another optional example, all the steps S1-S3 can be executed by the controller, for example, the controller can directly send the start or stop instruction to the corresponding radar. The controller and the actuator can be a general processor, for example, a CPU, and the memory can be a system memory or a memory in the system.

[0210] In some other embodiments of the present disclosure, the above steps can be implemented in the form of a hardware circuit, and the functions of part or all of the units can be realized by the design of the hardware circuit. The hardware circuit can be one or more processors, for example, a controller or an actuator. For example, in one implementation, the hardware circuit is an ASIC, and the above steps are realized by the design of the logical relationship between internal components of the circuit. For another example, in another implementation, the hardware circuit is a programmable logic device (PLD), which can include a large number of logic gate circuits, and the logical relationship between the logic gate circuits can be configured by a configuration file, so as to realize the above steps.

[0211] The above steps can be realized in the form of a controller calling a program, in the form of a hardware circuit, or partially in the form of a controller calling a program and partially in the form of a hardware circuit.

[0212] In embodiments of the present disclosure, the controller is a circuit with signal processing capability. In one implementation, the controller can be a circuit with instruction reading and running capability, such as a CPU, a MCU, a GPU, or a DSP, etc.; in another implementation, the controller can implement certain functions through a logic relationship of a hardware circuit, which is fixed or can be reconfigured, such as an ASIC or a PLD implemented hardware circuit, e.g., an FPGA. In a reconfigurable hardware circuit, the controller loads a configuration document to implement the hardware circuit configuration, which can be understood as the process of the controller loading instructions to implement the above steps partially or entirely. In addition, the controller can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, a TPU, a DPU, etc.

[0213] It can be seen that one or more steps of the above method can be implemented by two or more processors (or processing circuits) described above, for example: can be implemented by CPU, GPU, NPU, TPU, DPU, MCU, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0214] Embodiments of the present disclosure also provide a corresponding vehicle, which can include the vehicle perception system shown in any of the above embodiments. The specific arrangement of the vehicle perception system on the vehicle and the implementation of each part of the vehicle perception system can be referred to the description of the above embodiments.

[0215] Embodiments of the present disclosure also provide a mounting device for a lidar, for mounting the lidar to a vehicle. FIG. 12 shows an example perspective view of a lidar and a mounting device, consistent with some embodiments of the present disclosure. FIG. 13 shows an example perspective view of a lidar and a mounting device, consistent with some embodiments of the present disclosure. FIG. 14 shows an example bottom view of a lidar and a mounting device, consistent with some embodiments of the present disclosure.

[0216] Referring to FIGS. 12-15, the mounting device 1220 of the laser radar 1210 includes a mounting frame 1221, a mounting hole 1222, and a driving structure 1223. The mounting frame 1221 is configured to carry the laser radar 1210 and a power mechanism 1230 configured to provide power for driving the laser radar 1210 to rotate. The mounting hole 1222 is located on the mounting frame 1221 and is configured to accommodate the rotating shaft 1211 of the laser radar 1210, providing a central position for rotation of the laser radar 1210. The driving structure 1223 is arranged on the mounting frame 1221 and connected with a power output shaft 1231 of the power mechanism 1230, configured to receive power output by the power output shaft 1231 and drive the laser radar 1210 to rotate around the central position under the action of the power.

[0217] The above embodiments of the present disclosure can mount the laser radar and the power mechanism on the carrier through the mounting device, which is beneficial to the stable operation of the laser radar. For example, the mounting hole can accommodate the rotating shaft of the laser radar, so that the laser radar can be rotatably arranged on the carrier, thereby maintaining the stability of the laser radar during rotation and reducing the influence on the detection performance of the laser radar. In addition, the driving structure can transmit power to the laser radar, which is beneficial to the flat layout of the laser radar and the power mechanism, reduces the overall installation area of the laser radar and the power mechanism, and is more compact, which is more beneficial to the application on the carrier.

[0218] In some embodiments, an actuator can be connected with the power mechanism. The actuator can drive the power mechanism to work and drive the laser radar to rotate.

[0219] In some embodiments of the present disclosure, the laser radar 1210 and the power mechanism 1230 are arranged along the carrying surface of the mounting frame 1221, and the driving structure is configured to convert the power output in the first direction into driving force in the second direction, the driving force being used to drive the rotation of the laser radar 1210, the first direction being perpendicular to the carrying surface, and the second direction being parallel to the carrying surface. The mounting structure provided by the above embodiments is more beneficial to the flattening of the overall structure and reduces the installation space. Moreover, thanks to the flat design of the overall structure, the laser radar can be more flexibly fixed or integrated at different positions of the carrier, such as various different positions shown in FIG. 1, and is not prone to structural interference, so as to facilitate the installation of the laser radar on the carrier.

[0220] FIG. 15 shows a side view of a laser radar, according to some embodiments of the present disclosure. Referring to FIG. 15, in some embodiments of the present disclosure, a card slot 1212 is provided on the end of the rotating shaft 1211 away from the laser radar 1210. When the end of the rotating shaft 1211 away from the laser radar 1210 is inserted into the mounting hole 1222, a limiting structure 1240 (e.g., a circlip) can be used to limit the rotating shaft 1211 in the plane parallel to the surface of the mounting bracket 1221 relative to the displacement of the mounting hole 1222, without limiting the rotation of the rotating shaft 1211, so that the laser radar 1210 can be more stably installed on the mounting bracket 1221.

[0221] In some embodiments of the present disclosure, the rotating shaft 1211 is on the same straight line as the optical center of the laser radar 1210, so that the optical center can remain unchanged relative to the coordinates of the vehicle during rotation of the laser radar 1210. By calibrating the relative position of the laser radar and the vehicle, the conversion relationship between the radar coordinate system and the vehicle coordinate system can be determined. By calculating (e.g., linear calculation) the rotation angle of the laser radar, the conversion relationship between the rotated radar coordinate system and the vehicle coordinate system can be determined, which is simple to calculate and does not need to be calibrated again.

[0222] For example, the optical center of the laser radar can be the origin of the radar coordinate system. The laser radar can generate a point cloud based on the radar coordinate system. Based on the installation pose of the laser radar on the vehicle, the conversion relationship between the radar coordinate system and the vehicle coordinate system or the world coordinate system can be determined.

[0223] For example, the optical center of the laser radar can include the optical axis center point of the transmitting optical system or the receiving optical system of the laser radar.

[0224] In some embodiments of the present disclosure, the rotating shaft 1211 can be arranged at any position. Based on the positional relationship between the rotating shaft 1211 and the laser radar 1210, the conversion relationship between the radar coordinate system and the vehicle coordinate system corresponding to different rotation directions or rotation angles can be determined.

[0225] The embodiments of the present disclosure do not limit the implementation of the driving structure. For example, the driving structure can include a belt pulley connected to the laser radar 1210 and the power output shaft 1231, or a support arm connected to the laser radar 1210 and the power output shaft 1231, or a gear structure connected to the laser radar 1210 and the power output shaft 1231, etc.

[0226] FIG. 16 shows a bottom view of a laser radar, according to some embodiments of the present disclosure. Please refer to FIG. 13, FIG. 14, and FIG. 16. The base of the laser radar 1210 is provided with a first toothed structure 1213. The driving structure 1223 includes a second toothed structure, which is provided on the mounting frame 1221, engages with the first toothed structure 1213, and is connected with the power output shaft 1231 to rotate relative to the mounting frame 1221 under the action of power. In some embodiments of the present disclosure, the first toothed structure 1213 can include an arc-shaped toothed structure, and the second toothed structure can include a fan-shaped toothed structure. In this way, the structure is compact, the installation cost of the laser radar is reduced, and the driving efficiency is good. The embodiments of the present disclosure do not limit the shape and size of the first toothed structure 1213 and the second toothed structure, and the power transmission can be realized. For example, the first toothed structure 1213 or the second toothed structure 700 can include a toothed structure with a regular or irregular outer contour, such as a non-arc-shaped rack or a circular gear.

[0227] In some embodiments of the present disclosure, the power mechanism 1230 can include a rotary or linear motor, and the power output shaft 1231 can drive the second toothed structure to rotate or move linearly, thereby driving the first toothed structure 1213 to rotate or reverse a certain angle. For example, when the power mechanism 1230 can include a linear motor, the second toothed structure can include a rack, for example, and the first toothed structure 1213 can include a gear, an arc-shaped or fan-shaped toothed structure, for example. The linear motor can drive the rack to move linearly, and the linear movement of the rack can drive the first toothed structure 1213 to rotate. For another example, when the power mechanism 1230 can include a rotary motor, the second toothed structure can include a gear, an arc-shaped or fan-shaped toothed structure, etc., for example. The rotary motor can drive the second toothed structure to rotate, and the rotation of the second toothed structure can drive the first toothed structure 1213 to rotate.

[0228] The design of the toothed structure in the above embodiments of the present disclosure is more compact and the transmission is more stable, and it is also beneficial to the conversion of the driving force direction, so that the installation structure of the laser radar and the power mechanism is more flattened. In addition, the first toothed structure is provided as an arc-shaped toothed structure, which is beneficial to the lightweight of the laser radar.

[0229] In some embodiments of the present disclosure, please refer to FIG. 13 and FIG. 14, the second toothed structure can include a fan-shaped toothed structure, which can include a hollow structure 1224. In this way, it is beneficial to the overall lightweight of the laser radar and the mounting device.

[0230] In some embodiments of the present disclosure, referring to FIGS. 14-16, the base of the laser radar 1210 is provided with a first guide structure 1214, and the mounting frame 1221 is provided with a second guide structure 1225 which is matched with the first guide structure 1214 and is configured to guide the rotation track of the laser radar 1210 during the rotation of the laser radar 1210, so that the laser radar 1210 can stably rotate, thereby better detecting the environment around the vehicle and improving the detection effect.

[0231] The embodiments of the present disclosure do not limit the shape, size and structure of the first guide structure and the second guide structure. For example, referring to FIGS. 14-16, the first guide structure 1214 can include a guide column, and the second guide structure can include a guide groove. In some other embodiments, the first guide structure 1214 can include a guide groove, and the second guide structure can include a guide column. One end of the guide column can be similar to the structure of the above rotating shaft 1211, for example, provided with a clamping groove, when the end of the guide column penetrates into the guide groove, the guide column can be clamped in the clamping groove by using a limiting structure 1250 (for example, a clamping spring), thereby movably limiting and mounting the guide column on the mounting frame 1221, while the laser radar 1210 is more stably mounted on the mounting frame 1221, the rotation of the laser radar 1210 is not affected, and the rotation track of the laser radar is more stable; and the above structure is simple to set, low in cost, and more conducive to the quick disassembly and assembly between the laser radar 1210 and the mounting device 1220.

[0232] In some embodiments of the present disclosure, continuing to refer to FIG. 13 and FIG. 14, the part of the mounting frame 1221 carrying the power mechanism 1230 includes a mounting table 1226 which can mount the power mechanism 1230. In the embodiments of the present disclosure, by mounting the power mechanism 1230 through the mounting table 1226, the height of the power mechanism 1230 can be raised to a certain extent, so as to set the power output shaft 1231 on the side of the power mechanism 1230 facing the mounting frame 1221, and provide mounting space for the driving structure 1223, so that it can transmit the power output by the power output shaft 1231 to the laser radar 1210. In the case that the thickness of the power mechanism 1230 does not change, the overall structure of the laser radar and the mounting device is further flattened, and the installation space is reduced. In some embodiments of the present disclosure, the mounting frame 1221 is also provided with an opening 121227 on the side where the power mechanism 1230 and the driving structure 1223 are connected, that is, the opening 121227 can expose the side where the power mechanism 1230 and the driving structure 1223 are connected. On the one hand, it is conducive to heat dissipation of the power mechanism 1230, so that the power mechanism 1230 can stably operate for a long time, and on the other hand, it can also reduce the overall weight of the mounting device 1220 and realize lightweight production.

[0233] The embodiments of the present disclosure further provide a control system for a vehicle. FIG. 17 shows a structural example diagram of a control system according to some embodiments of the present disclosure. Referring to FIG. 17, the control system 1700 can include a laser radar 1710 and a controller 1720. The controller 1720 can be the same as or similar to the controller provided in any of the above embodiments. The laser radar 1710 can be rotatably installed on a vehicle, and the controller 1720 is in signal connection with a power mechanism 1730 driving the laser radar 1710 and is configured to control the rotation of the laser radar 1710.

[0234] The embodiments of the present disclosure further provide a vehicle including a laser radar and a controller of the laser radar provided in any of the above embodiments. In some embodiments of the present disclosure, the laser radar can be installed on a vehicle by the mounting device provided in any of the above embodiments.

[0235] In addition, the embodiments of the present disclosure further provide a computer-readable storage medium including instructions stored thereon, which, when invoked by a processor, the control method in any of the above embodiments is executed. The embodiments of the present disclosure further provide a computer program (or computer program product) including instructions, which, when invoked by a processor, the control method in any of the above embodiments is executed.

[0236] The above computer-readable storage medium can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magneto-optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0237] In the present disclosure, unless explicitly specified and limited, ordinal words such as "first", "second", etc. are only used to distinguish the description of the associated objects, and cannot be understood as indicating or implying the relative importance or order between the associated objects. In addition, the ordinal words also do not represent the number of the associated objects. For example, "the first laser radar" can include one laser radar, or a plurality of laser radars.

[0238] “Plural” includes two or more, and other quantifiers can be similar.

[0239] The terms “or,” “and / or” as used herein in the disclosure refers to a relationship between a set of items in which one or more of those items can be included, but not all of the items in the set must be included. For example, “A and / or B” is intended to cover A alone, B alone, or A and B. For example, “A, B, and / or C” is intended to cover A alone, B alone, C alone, A and B, A and C, B and C, or A and B and C. Additionally, the “ / ” in the disclosure is used to represent “or” between a set of associated items. The meaning of “at least one of A or B” and “one or more of A and B” in the disclosure is the same as the meaning of “A or B” above, and “one or more of A, B, and C” and “at least one of A, B, or C” have the same meaning as “A, B, or C” above. “One or more of A, B, and C” has the same meaning as “A, B, or C” above.

[0240] In the above embodiments, the description of each embodiment is focused on, and the part not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments. In addition, the above embodiments can be freely combined as needed.

Claims

A control method for a lidar, characterized in that, The first lidar is rotatably mounted on the vehicle, and the control method includes: Determine the vehicle's operational status; The rotation of the first lidar is controlled according to the operating status of the vehicle. The control method according to claim 1 is characterized in that, The operating status includes the steering status; The step of controlling the rotation of the first lidar according to the operating state of the vehicle includes: Based on the vehicle's turning state, control the first lidar to rotate in the same direction as the turning direction; or Based on the vehicle's turning state, the first lidar is controlled to rotate in the opposite direction to the turning direction. The control method according to claim 2 is characterized in that, The vehicle also includes a second lidar, and the step of controlling the rotation of the first lidar according to the operating state of the vehicle includes: Control the first lidar to rotate in the same direction as the turning direction; Furthermore, the control method further includes: Control the second lidar to rotate in the same or opposite direction as the steering direction, or keep the second lidar stationary. The control method according to any one of claims 1-3 is characterized in that, The vehicle includes a vehicle. The control method according to claim 4 is characterized in that, Also includes: Determine the driving scenario of the vehicle; Based on the driving scenario, enable rotation control of the first lidar. A controller for a lidar system, characterized in that, The device includes a processor and an interface circuit, the processor being configured to execute the control method as described in any one of claims 1-5, and to send radar control commands through the interface circuit, the radar control commands being used to control the rotation of the first lidar. A vehicle perception system, characterized in that, include: Multiple lidars are distributed on the vehicle, wherein the field of view of at least two lidars at least partially overlaps, and the at least two lidars include a first lidar, which is movably disposed relative to the vehicle. The controller is adapted to generate and output corresponding radar control commands based on the vehicle's change information, wherein the change information includes at least one of vehicle motion change information and environmental change information. An actuator is adapted to control a corresponding radar to perform a corresponding operation according to the radar control command, so as to adjust the target field of view range of the plurality of lidars. The system according to claim 7 is characterized in that, The pose of the first lidar relative to the vehicle is adjustable; The controller is adapted to generate at least one of a radar switching command and a pose adjustment command based on the change information acquired by the vehicle. The actuator is adapted to control the corresponding radar to turn on or off according to the radar switch command, and / or to drive the corresponding first lidar to adjust to the target pose according to the pose adjustment command. The system according to claim 8 is characterized in that, The first lidar is adapted to rotate relative to the vehicle, the rotation including at least one of horizontal rotation and vertical rotation; The controller is adapted to generate corresponding attitude adjustment commands based on the changes in the vehicle. The actuator is adapted to drive the corresponding first lidar to perform the rotation according to the attitude adjustment command, so that the corresponding first lidar is adjusted to the target pose. The system according to claim 9 is characterized in that, The distance between the plurality of lidars is determined based on at least one of the following parameters: the width of the vehicle, the mounting position on the vehicle, and the detection parameters of the lidars. The system according to claim 10 is characterized in that, The at least two lidars also include a second lidar. The first lidar and the second lidar are symmetrically distributed in the front region of the vehicle, and the field of view ranges of the first lidar and the second lidar at least partially overlap. The system according to claim 11 is characterized in that, The first lidar and the second lidar are arranged adjacent to each other, and the field of view of the first lidar and the second lidar partially overlap in the area in front of the vehicle. The system according to claim 12 is characterized in that, The detection parameters of the first lidar and the second lidar may be the same or different. The system according to claim 10 is characterized in that, The rotation of the first lidar is determined based on at least one of the following parameters: The detection parameters of the first lidar; The vehicle's acceptable forward range measurement capability after the first lidar attitude adjustment; or Acceptable blind spot distance. A vehicle perception method, characterized in that, The vehicle includes: a plurality of lidar sensors distributed on the vehicle, wherein the field of view of at least two lidar sensors at least partially overlaps, and the at least two lidar sensors include a first lidar sensor, which is movably disposed relative to the vehicle; the method includes: Acquire vehicle change information, the change information including at least one of vehicle motion change information and environmental change information; Based on the aforementioned change information, corresponding radar control commands are generated; According to the radar control command, the corresponding radar is driven to perform corresponding operations to adjust the target field of view range of the multiple lidars.

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