CN115257554A - Sensor position control device for vehicle, method, computer device, and medium - Google Patents
Sensor position control device for vehicle, method, computer device, and medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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Abstract
The invention provides a vehicle sensor position control device, a vehicle sensor position control method, a computer device and a vehicle sensor position control medium. A sensor position control device for a vehicle, comprising: the vehicle sensor is used for acquiring environmental information; the position sensor is used for acquiring the position information of the vehicle sensor; and the controller is connected with the position sensor and used for acquiring the position information and the target position information of the vehicle sensor, controlling the vehicle sensor to move to a target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle sensing requirement, and the target position information is determined according to the current speed of the vehicle. According to the invention, under different driving speeds of the vehicle, the position of the vehicle sensor is actively driven to move, and the fixed position of the vehicle sensor is changed, so that the detection range of the same sensor is changed under different scenes, and the same effect of reducing blind areas by multiple sensors is achieved.
Description
Technical Field
The embodiment of the invention relates to the field of automatic driving, in particular to a device and a method for controlling the position of a vehicle sensor, computer equipment and a medium.
Background
Various sensors are installed on an existing automatic driving vehicle, including but not limited to laser radar, millimeter wave radar, visual sensor, etc., and the purpose of the sensors is to detect the surrounding environment on the driving route of the vehicle, so that an automatic driving computer of the vehicle can perform map positioning according to the surrounding environment of the vehicle, recognize obstacles and plan the route, and realize automatic safe driving of the vehicle.
Because the existing sensor of the automatic driving vehicle has an inherent detection range (FOV), the automatic driving vehicle is realized by adopting a plurality of laser radar layout methods in order to enlarge the perception range of the vehicle to the surrounding environment. The more sensors, the greater the range of external perception of the vehicle, and the safer the vehicle travels. Taking laser radar as an example, the layout of multiple sensors brings disadvantages of high value and high cost, and thus it is becoming one of the important bottlenecks that hinder the popularization of automatic driving vehicles.
Disclosure of Invention
Therefore, an object of the present invention is to provide a sensor position control apparatus, a method, a computer device, and a medium for a vehicle, which overcome the disadvantage of high cost caused by the multi-sensor layout in the prior art.
In a first aspect, the present invention provides a sensor position control device for a vehicle, including:
the vehicle sensor is used for acquiring environmental information;
the position sensor is used for acquiring the position information of the vehicle sensor;
and the controller is connected with the position sensor and used for acquiring the position information and the target position information of the vehicle sensor, controlling the vehicle sensor to move to a target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle sensing requirement, and the target position information is determined according to the current speed of the vehicle.
Through the device, the aims of reducing the number of the sensors, reducing the cost of the whole vehicle and simultaneously not reducing the sensing range of the sensors are fulfilled.
With reference to the first aspect, in a first embodiment of the first aspect, the apparatus further includes: a driving motor and a transmission mechanism, wherein the vehicle sensor is fixed on the transmission mechanism,
the controller is used for sending a control instruction to the driving motor according to the position information and the target position information of the vehicle sensor;
the driving motor is used for generating rotary motion according to the control instruction;
the transmission mechanism is used for converting the rotary motion into linear displacement and angular displacement so as to move the vehicle sensor to the target position.
Through the embodiment, the controller controls the driving motor to enable the driving mechanism to generate rotary motion, and the driving mechanism converts the rotary motion into linear displacement and angular displacement to enable the vehicle sensor to reach the target position.
With reference to the first aspect, in a second embodiment of the first aspect, the environment information includes location information of an external object, the vehicle sensor sends the location information of the external object to the vehicle-mounted computer, and the location sensor sends the location information of the vehicle sensor to the vehicle-mounted computer, so that the vehicle-mounted computer compensates the location information of the external object according to the location information of the vehicle sensor, and the compensated location information of the external object is obtained.
Through the embodiment, the position information of the external object is compensated and corrected through the position information of the vehicle sensor, so that the deviation caused by the motion of the vehicle sensor when the position of the external object is detected is avoided.
With reference to the first aspect or the second embodiment of the first aspect, in a third embodiment of the first aspect, the environment information includes speed information of the foreign object, and the apparatus further includes:
and the speed sensor is used for acquiring the speed information of the vehicle sensor and sending the speed information to the vehicle-mounted computer, so that the vehicle-mounted computer compensates the speed information of the external object according to the current speed of the vehicle and the speed information of the vehicle sensor to obtain the compensated speed information of the external object.
Through the embodiment, the speed information of the external object is compensated and corrected through the speed information of the vehicle sensor, so that the deviation caused by the motion of the vehicle sensor when the speed of the external object is detected is avoided.
With reference to the first embodiment of the first aspect, in a fourth embodiment of the first aspect, the apparatus further includes a fixed frame, and the position sensor, the controller, the driving motor, and the transmission mechanism are fixed to the fixed frame, and the fixed frame is disposed on a roof of the vehicle.
Through the embodiment, the fixed frame is arranged at the top of the vehicle, and the position sensor, the controller, the driving motor and the transmission mechanism are fixed on the fixed frame, so that the position movement of the vehicle sensor is realized.
With reference to the fourth embodiment of the first aspect, in the fifth embodiment of the first aspect, when the vehicle sensor is located at different positions of the fixed frame, the horizontal tilt angles of the vehicle sensor are different.
Through the embodiment, when the vehicle sensors are located at different positions of the fixed frame, the horizontal inclination angles of the vehicle sensors are different, so that the vehicle detection ranges are different, and the same detection effect of a plurality of vehicle sensors is achieved while the number of the vehicle sensors is reduced.
In a second aspect, the present invention provides a vehicle sensor position control method, used in the vehicle sensor position control device according to the first aspect or any embodiment of the first aspect, including:
acquiring position information of a vehicle sensor and target position information of the vehicle sensor;
and controlling the vehicle sensor to reach the target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle sensing requirement, and the target position information is determined according to the current speed of the vehicle.
By the method, the vehicle sensor is positioned at different positions when different vehicle speeds are realized, so that the detection range of the vehicle sensor meets the vehicle sensing requirement.
With reference to the second aspect, in a first embodiment of the second aspect, the vehicle sensor has different horizontal inclination angles at different target positions, and the current vehicle speed and the horizontal inclination angle are in a negative correlation relationship.
Through the embodiment, when the vehicle is at different speeds, the vehicle sensor is moved to different positions to change the horizontal inclination angle of the vehicle sensor, wherein the vehicle speed and the horizontal inclination angle are in a negative correlation relationship, and the detection range of the vehicle sensor is further changed.
In a third aspect, the present invention further provides a computer device, which includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the steps of the second aspect or the vehicle sensor position control method according to the first embodiment of the second aspect.
In a fourth aspect, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the vehicle sensor position control method of the second aspect or the first embodiment of the second aspect.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a sensor position control apparatus for a vehicle according to an exemplary embodiment;
FIG. 2 illustrates two operating states of a proposed sensor position control apparatus for a vehicle according to an exemplary embodiment;
FIG. 3 is a schematic view of a partially circular arc frame in a vehicular sensor position control apparatus in accordance with an exemplary embodiment;
FIG. 4 is a schematic diagram of a vehicle sensor position control system in accordance with an exemplary embodiment;
FIG. 5 is a flow chart of a proposed sensor position control method for a vehicle in accordance with an exemplary embodiment;
fig. 6 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In order to enlarge the sensing range of the vehicle to the surrounding environment, the automatic driving vehicle is realized by adopting a method of arranging a plurality of vehicle sensors, and the more the sensors are, the larger the sensing range of the vehicle to the outside is, and the safer the vehicle runs. However, the multi-sensor layout brings the disadvantages of high value and high cost.
Fig. 1 is a schematic structural diagram of a vehicle sensor position control device according to an exemplary embodiment. As shown in fig. 1, the sensor position control device for a vehicle includes:
the vehicle sensor 1 is used for acquiring environmental information.
In one example, the vehicular sensor 1 may be, but is not limited to, a lidar sensor, and the environmental information includes, but is not limited to, external object position information and velocity information.
And the position sensor 2 is used for acquiring the position information of the vehicle sensor 1.
In one example, the position information of the vehicle sensor 1 refers to a position of the vehicle sensor 1 with respect to the vehicle.
And the controller 3 is connected with the position sensor 2 and is used for acquiring the position information and the target position information of the vehicle sensor 1, controlling the vehicle sensor 1 to move to the target position according to the position information and the target position information, enabling the detection range of the vehicle sensor 1 to meet the vehicle sensing requirement, and determining the target position information according to the current speed of the vehicle.
In one example, the target position information of the vehicle sensor 1 refers to a target position of the vehicle sensor 1 with respect to the vehicle.
Specifically, the sensor position control device for the vehicle changes the detection range of the sensor 1 for the vehicle by allowing the sensor 1 for the vehicle to be located at different positions when the vehicle speeds are different. When the vehicle sensor 1 is located at different target positions, the horizontal inclination angles are different, and the current speed of the vehicle and the horizontal inclination angle form a negative correlation relationship, namely, the larger the vehicle speed is, the smaller the inclination angle of the vehicle sensor 1 is.
Through the device, the detection range of the vehicle sensor 1 is changed by changing the position of the vehicle sensor 1, so that the sensing range of the vehicle sensor is not reduced while the number of the vehicle sensors is reduced.
In one example, the sensor position control device for a vehicle further includes: the vehicle sensor 1 is fixed on the transmission mechanism, and the controller 3 is used for sending a control instruction to the driving motor according to the position information and the target position information of the vehicle sensor 1; the driving motor is used for generating rotary motion according to the control instruction; the transmission mechanism is used to convert the rotational motion into a linear displacement and an angular displacement so that the vehicular sensor 1 is moved to a target position.
In one example, the environment information includes position information of the external object, the vehicle sensor 1 sends the position information of the external object to the vehicle-mounted computer, and the position sensor 2 sends the position information of the vehicle sensor 1 to the vehicle-mounted computer, so that the vehicle-mounted computer compensates the position information of the external object according to the position information of the vehicle sensor 1, and the compensated position information of the external object is obtained.
In another example, the environment information includes speed information of the external object, and the sensor position control apparatus for a vehicle further includes: and the speed sensor is used for acquiring the speed information of the vehicle sensor 1 and sending the speed information to the vehicle-mounted computer so that the vehicle-mounted computer compensates the speed information of the external object according to the current speed of the vehicle and the speed information of the vehicle sensor 1 to obtain the compensated speed information of the external object.
The position sensor 2 not only improves the stability and the precision of position control, but also compensates the movement speed and the position of an external object detected by the vehicle sensor 1 and corrects the detection speed and the position deviation caused by the movement of the vehicle sensor 1.
Of course, in the above embodiments, the target position calculation and the compensation calculation may be performed by, but not limited to, an on-board computer, and may also be a controller or other device having a calculation function.
In still another example, the sensor position control device for a vehicle further includes a fixed frame, and the position sensor 2, the controller 3, the driving motor, and the transmission mechanism are fixed to the fixed frame, which is placed on the top of the vehicle.
When the vehicle sensor 1 is located at different positions of the fixed frame, the horizontal inclination angles of the vehicle sensor 1 are different, and the detection range of the vehicle sensor 1 is further changed.
Fig. 2 shows two operating states of the vehicle sensor 1 at different positions in the vehicle sensor position control device according to an exemplary embodiment.
When a vehicle passes through high-precision positioning equipment and a positioner is positioned in a highway motor vehicle lane, an expressway and other areas, the vehicle is in a high-speed driving state most of the time, pedestrians and non-motor vehicles in the areas cannot appear, the vehicle has a high sensing requirement on far surrounding vehicles, an on-board computer sends an instruction, and the vehicle sensor 1 is controlled to move to the position 1 in the figure 2 through a vehicle sensor position control device, so that the detection range of the vehicle sensor 1 covers the position far away from the vehicle head, and the high-speed driving safety requirement of the vehicle is met.
When a vehicle runs in a highway auxiliary road, a community parking lot, a rural village, a moustache and other areas by positioning the vehicle through high-precision positioning equipment, the vehicle is in a low-speed running state most of the time, pedestrians and non-motor vehicles in the above areas have high probability of appearing, the sensing of obstacles close to a vehicle head area is highly required, the vehicle-mounted computer sends an instruction, the vehicle-mounted sensor 1 is controlled to move to a position 2 in a figure 2 through a vehicle-mounted sensor position control device, the position of a position, close to the vehicle head, covered by a detection range of the vehicle-mounted sensor 1 is achieved, and the low-speed running safety requirement of the vehicle is met.
When the vehicle sensor position control device controls the vehicle sensor 1 to move during the transition from the low-speed driving scene to the high-speed driving scene under the driving condition of the vehicle, the process is a state that is not possessed by the conventional autonomous vehicle, and the embodiment is referred to as a "transition state".
In the transitional process state, because the vehicle sensor 1 is moving (including linear displacement and/or angular displacement), the vehicle sensor 1 is moving relative to the vehicle, the detection of the external moving object by the vehicle sensor 1 needs to be compensated by combining the motion of the vehicle sensor 1, wherein the detection data comprises the position and the speed of the external moving object, and the compensation formula is as follows:
the external object movement speed = the vehicle speed + the vehicle sensor detection moving object speed + the movement speed of the vehicle sensor relative to the vehicle,
external object position = vehicle sensor detection movement position + vehicle sensor movement position.
Fig. 3 is a schematic view of a partial arc frame in the position control device for the vehicular sensor according to an exemplary embodiment, in which the fixed frame shown in fig. 3 is a partial arc frame including a horizontal portion and an arc portion, and the inclination angle of the vehicular sensor 1 does not change when the vehicular sensor 1 moves on the horizontal portion of the partial arc frame, and the horizontal inclination angle of the vehicular sensor 1 differs at different positions when the vehicular sensor 1 moves on the arc portion of the partial arc frame.
Fig. 3 shows a 60-degree partial arc frame, and when the vehicle sensor 1 moves on the arc frame, the horizontal tilt angle of the vehicle sensor 1 can be adjusted within the range of 0-60 degrees.
Assuming that the horizontal farthest detection distance of the vehicular sensor 1 is 50 meters, the detection range thereof at the horizontal inclination angle of 60 degrees is 25 meters at the farthest.
According to the maximum angle of 90 degrees of the vehicle at different speeds, the braking distance of the distance is detected, and the requirements of the sensor on the detection distance of the vehicle at different speeds can be evaluated. The specific requirements are as follows:
the vehicle sensor detects distance > (vehicle sensor data acquisition time + barrier sensing and recognition time + vehicle body brake delay time) vehicle speed +0.5 vehicle speed/vehicle maximum brake deceleration.
According to the inequality requirements, the larger the vehicle speed, the smaller the sensor inclination angle, and the relationship between the vehicle speed and the sensor horizontal inclination angle is as follows:
sensor inclination = K/vehicle speed, or sensor inclination = K × log a (vehicle speed) (a < 1); any relation in the form of a decreasing function may be referred to as a quantitative control algorithm for sensor tilt control.
Fig. 4 is a schematic structural diagram of a vehicle sensor position control system according to an exemplary embodiment.
The system comprises: a vehicle sensor 1 for acquiring environmental information; the position sensor 2 is used for acquiring the position information of the vehicle sensor 1; the controller 3 is connected with the position sensor 2 and is used for acquiring position information and target position information of the vehicle sensor 1, and controlling the vehicle sensor 1 to move to a target position according to the position information and the target position information so that the detection range of the vehicle sensor 1 meets the vehicle sensing requirement; and the vehicle-mounted computer 4 is used for determining target position information according to the current speed of the vehicle and performing compensation calculation on the external movement speed information and the position information.
The sensors with limited quantity on the vehicle are fully utilized, and the sensors for the vehicle are controlled to be positioned at different positions under different running scenes of the vehicle, so that the sensing range of the sensors for the vehicle meets the requirement of safe running of the vehicle, and the effect of multi-sensor layout is achieved. Therefore, the cost of the finished automobile sensor is reduced, taking the cost of the laser radar as an example, the cost can be reduced by 50%, and the data processing burden of a sensing system is also reduced by 50%; the complexity of the vehicle electrical architecture is reduced by 60%.
Based on the same inventive concept, the invention also provides a vehicle sensor position control method. Fig. 5 is a flowchart of a proposed sensor position control method for a vehicle according to an exemplary embodiment, which is used for the sensor position control device for a vehicle in the above-described embodiment, and includes:
step S101: position information of a vehicle sensor and target position information of the vehicle sensor are acquired.
Specifically, the position information of the vehicle sensor is obtained, namely the position information of the current vehicle sensor, and the obtained position information can be used for compensating when the vehicle sensor detects an external object while improving the stability and precision of position control, and correcting the detection speed and position deviation caused by the movement of the vehicle sensor.
And S102, controlling the vehicle sensor to reach the target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle sensing requirement, and the target position information is determined according to the current speed of the vehicle.
Specifically, the positions of the vehicle sensors are changed to have different detection ranges, so that the vehicle sensing requirements are met.
In one example, the vehicle sensor has different horizontal inclination angles at different target positions, and the current speed of the vehicle and the horizontal inclination angle have a negative correlation relationship, namely the larger the vehicle speed is, the smaller the inclination angle of the vehicle sensor is.
By the method, when the vehicle is at different speeds, the vehicle sensor is at different positions, so that the detection range of the vehicle sensor meets the vehicle sensing requirement.
Fig. 6 is a schematic diagram of a hardware structure of a computer device according to an exemplary embodiment. As shown in fig. 6, the apparatus includes one or more processors 610 and a storage 620, where the storage 620 includes a persistent memory, a volatile memory, and a hard disk, and one processor 610 is taken as an example in fig. 6. The apparatus may further include: an input device 630 and an output device 640.
The processor 610, the memory 620, the input device 630, and the output device 640 may be connected by a bus or other means, such as the bus connection in fig. 6.
The memory 620, which is a non-transitory computer-readable storage medium including persistent memory, volatile memory, and a hard disk, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle sensor position control method in the embodiments of the present application. The processor 610 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 620, so as to implement any one of the above-described sensor position control methods for a vehicle.
The memory 620 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data used as needed or desired, and the like. Further, the memory 620 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 620 optionally includes memory located remotely from processor 610, which may be connected to a data processing device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 630 may receive input numeric or character information and generate signal inputs related to user settings and function control. The output device 640 may include a display device such as a display screen.
One or more modules are stored in the memory 620 and, when executed by the one or more processors 610, perform the method illustrated in fig. 5.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For details of the technology that are not elaborated in this embodiment, reference may be made specifically to the description related to the embodiment shown in fig. 5.
Embodiments of the present invention further provide a non-transitory computer storage medium, where a computer-executable instruction is stored in the computer storage medium, and the computer-executable instruction may execute the authentication method in any of the above method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk Drive (Hard Disk Drive, abbreviated as HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A sensor position control device for a vehicle, characterized by comprising:
the vehicle sensor is used for acquiring environmental information;
the position sensor is used for acquiring the position information of the vehicle sensor;
and the controller is connected with the position sensor and used for acquiring the position information and the target position information of the vehicle sensor, controlling the vehicle sensor to move to a target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle sensing requirement, and the target position information is determined according to the current speed of the vehicle.
2. The apparatus of claim 1, further comprising: a driving motor and a transmission mechanism, wherein the vehicle sensor is fixed on the transmission mechanism,
the controller is used for sending a control instruction to the driving motor according to the position information and the target position information of the vehicle sensor;
the driving motor is used for generating rotary motion according to the control instruction;
the transmission mechanism is used for converting the rotary motion into linear displacement and angular displacement so as to move the vehicle sensor to the target position.
3. The apparatus of claim 1, wherein the environment information includes location information of an external object,
the vehicle sensor sends the position information of the external object to a vehicle-mounted computer, and the position sensor sends the position information of the vehicle sensor to the vehicle-mounted computer, so that the vehicle-mounted computer compensates the position information of the external object according to the position information of the vehicle sensor, and the compensated position information of the external object is obtained.
4. The apparatus of claim 1 or 3, wherein the environment information comprises speed information of the foreign object, the apparatus further comprising:
and the speed sensor is used for acquiring the speed information of the vehicle sensor and sending the speed information to the vehicle-mounted computer, so that the vehicle-mounted computer compensates the speed information of the external object according to the current speed of the vehicle and the speed information of the vehicle sensor to obtain the compensated speed information of the external object.
5. The apparatus of claim 2, further comprising a stationary frame, wherein the position sensor, the controller, the drive motor, and the transmission mechanism are fixed to the stationary frame, and wherein the stationary frame is disposed on a roof of the vehicle.
6. The apparatus of claim 5, wherein the tilt angle of the vehicular sensor is different when the vehicular sensor is located at different positions of the fixed frame.
7. A sensor position control method for a vehicle, characterized by being used in the sensor position control device for a vehicle of any one of claims 1 to 6, the method comprising:
acquiring position information of a vehicle sensor and target position information of the vehicle sensor;
and controlling the vehicle sensor to reach the target position according to the position information and the target position information, so that the detection range of the vehicle sensor meets the vehicle sensing requirement, and the target position information is determined according to the current speed of the vehicle.
8. The method of claim 7, wherein the vehicle sensors have different horizontal inclination angles at different target locations, and wherein the current vehicle speed is inversely related to the horizontal inclination angle.
9. A computer device, comprising a memory and a processor, wherein the memory and the processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the steps of the sensor position control method for vehicles according to claim 7 or 8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the sensor position control method for vehicles of claim 7 or 8.
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| CN202210671431 | 2022-06-14 | ||
| CN2022106714315 | 2022-06-14 |
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| DE102006007766A1 (en) * | 2006-02-20 | 2007-08-30 | Webasto Ag | Method for controlling the movement of a roof system for a cabriolet vehicle comprises simultaneously actuating a number of actuators of the roof system, determining positional information using position sensors and further processing |
| JP2007283862A (en) * | 2006-04-14 | 2007-11-01 | Mazda Motor Corp | Vehicle periphery monitoring device |
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| CN111137237A (en) * | 2018-11-02 | 2020-05-12 | 郑州宇通客车股份有限公司 | School bus and device for preventing children from leaving behind |
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2022
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|---|---|---|---|---|
| DE102006007766A1 (en) * | 2006-02-20 | 2007-08-30 | Webasto Ag | Method for controlling the movement of a roof system for a cabriolet vehicle comprises simultaneously actuating a number of actuators of the roof system, determining positional information using position sensors and further processing |
| JP2007283862A (en) * | 2006-04-14 | 2007-11-01 | Mazda Motor Corp | Vehicle periphery monitoring device |
| GB2510672A (en) * | 2013-12-02 | 2014-08-13 | Daimler Ag | Maintaining ride comfort by adapting vehicle speed according to road roughness |
| CN108061881A (en) * | 2017-10-25 | 2018-05-22 | 中国第汽车股份有限公司 | Expand the device and control method of intelligent driving trailer-mounted radar sensing range |
| CN111137237A (en) * | 2018-11-02 | 2020-05-12 | 郑州宇通客车股份有限公司 | School bus and device for preventing children from leaving behind |
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