阅读说明：本技术 一种车辆传感器的控制方法及系统、一种车辆 (Control method and system of vehicle sensor and vehicle ) 是由 张骋 李博 于 2021-07-30 设计创作，主要内容包括：本发明提供一种车辆传感器的控制方法及系统,以及一种车辆,具体涉及车辆技术领域；包括：获取车辆行驶信息；车辆行驶信息至少包括车辆行驶环境信息；将车辆行驶环境信息分解为栅格空间,并根据栅格空间确定出目标栅格；获取车辆传感器对栅格空间的感知能力,并根据所获取的感知能力对车辆传感器进行调整,将目标栅格控制在车辆传感器的覆盖区域内。本发明通过对传感器进行角度和/或位置调整,能够增加车辆传感器的可活动性,改变车辆传感器的原始覆盖角度和覆盖区域,从而能够解决现有技术中自动驾驶车辆中因为车辆传感器固定布置而导致其覆盖能力局限的问题。(The invention provides a control method and a control system of a vehicle sensor and a vehicle, and particularly relates to the technical field of vehicles; the method comprises the following steps: acquiring vehicle running information; the vehicle running information includes at least vehicle running environment information; decomposing the vehicle running environment information into a grid space, and determining a target grid according to the grid space; and acquiring the perception capability of the vehicle sensor to the grid space, adjusting the vehicle sensor according to the acquired perception capability, and controlling the target grid in the coverage area of the vehicle sensor. According to the invention, the angle and/or position of the sensor are/is adjusted, so that the mobility of the vehicle sensor can be increased, the original coverage angle and coverage area of the vehicle sensor are changed, and the problem of limited coverage capability of the vehicle sensor due to fixed arrangement of the vehicle sensor in the automatic driving vehicle in the prior art can be solved.)

1. A control method of a vehicle sensor, characterized by comprising the steps of:

acquiring vehicle running information; the vehicle running information at least includes vehicle running environment information;

decomposing the vehicle running environment information into a grid space, and determining a target grid according to the grid space;

and acquiring the perception capability of a vehicle sensor to the grid space, adjusting the vehicle sensor according to the acquired perception capability, and controlling the target grid in the coverage area of the vehicle sensor.

2. The control method of the vehicle sensor according to claim 1, wherein the vehicle travel information further includes vehicle positioning information; the forming process of the vehicle running environment information includes:

acquiring vehicle positioning information;

generating a vehicle running track according to the vehicle positioning information;

and obtaining map data, and determining vehicle running environment information according to the map data and the vehicle running track.

3. The method of claim 1, wherein the step of determining the target grid from the grid space comprises:

after the vehicle running environment information is decomposed into a grid space, the running direction of the current vehicle is obtained, and traffic flow when other vehicles move close to the current vehicle is obtained;

determining the direction of a risk source of the current vehicle according to the traffic flow and the driving direction of the current vehicle;

predicting the probability of collision between other vehicles and the current vehicle and the collision area based on the risk source direction;

and screening out grids corresponding to the predicted collision areas from the grid space to be used as target grids.

4. The control method of the vehicle sensor according to any one of claims 1 to 3, characterized in that the adjustment of the vehicle sensor includes: angle adjustment and/or position adjustment.

5. The method for controlling a vehicle sensor according to claim 4, wherein the position adjustment of the vehicle sensor includes: moving the vehicle sensor up and down, moving the vehicle sensor left and right and/or moving the vehicle sensor front and back, and adjusting the original spatial position and the corresponding coverage area of the vehicle sensor;

when carrying out angle adjustment to the vehicle sensor, include: and carrying out clockwise rotation or anticlockwise rotation on the vehicle sensor, and adjusting the original angle and the corresponding coverage area of the vehicle sensor.

6. The control method of a vehicle sensor according to claim 1, characterized by, in acquiring vehicle travel information, further comprising: acquiring a vehicle function starting state, and turning on or off one or more vehicle sensors arranged at different positions of a vehicle according to a vehicle function starting state result; wherein the vehicle function comprises at least one of: the automatic driving function, the auxiliary driving function, the lane changing function, the steering function and the constant-speed cruising function.

7. The control method of the vehicle sensor according to claim 1 or 6, characterized by further comprising:

providing one or more vehicle sensors on a front side of the vehicle;

and/or, providing one or more vehicle sensors at a rear side of the vehicle;

and/or, one or more vehicle sensors are provided on the left side of the vehicle;

and/or, one or more sensors are disposed on the right side of the vehicle.

8. A control system for a vehicle sensor, said system comprising:

the information acquisition module is used for acquiring vehicle running information; the vehicle running information at least includes vehicle running environment information;

the information decomposition module is used for decomposing the vehicle running environment information into a grid space and determining a target grid according to the grid space;

and the vehicle sensor adjusting module is used for acquiring the perception capability of a vehicle sensor to the grid space, adjusting the vehicle sensor according to the acquired perception capability and controlling the target grid in the coverage area of the vehicle sensor.

9. A vehicle, characterized in that the vehicle is provided with a control system according to claim 8.

Technical Field

The invention relates to the technical field of vehicles, in particular to a control method and a control system of a vehicle sensor and a vehicle.

Background

Automatic driving (also called unmanned driving), which is a method for realizing unmanned driving of an automobile through a vehicle-mounted control system. Automatic driving mainly depends on the cooperation of artificial intelligence, visual calculation, radar, a sensor monitoring device and a global positioning system, so that the vehicle-mounted control system can automatically and safely operate the motor vehicle without any active operation of human beings. However, the vehicle sensors in the current automatic driving automobile are arranged in fixed positions, and environment information cannot be sensed in sensing areas which cannot be covered in the pre-arrangement, so that the situation that the covering capacity of the vehicle sensors is limited due to the fixed arrangement of the vehicle sensors occurs.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, it is an object of the present invention to provide a control method and system for an automatic driving vehicle sensor, which is used to solve the problem of limited coverage capability when the vehicle sensor is fixedly arranged in the prior art.

To achieve the above and other related objects, the present invention provides a control method of a vehicle sensor, the method comprising the steps of:

acquiring vehicle running information; the vehicle running information at least includes vehicle running environment information;

decomposing the vehicle running environment information into a grid space, and determining a target grid according to the grid space;

and acquiring the perception capability of a vehicle sensor to the grid space, adjusting the vehicle sensor according to the acquired perception capability, and controlling the target grid in the coverage area of the vehicle sensor.

In an embodiment of the present invention, the vehicle driving information further includes vehicle positioning information; the forming process of the vehicle running environment information includes:

acquiring vehicle positioning information;

generating a vehicle running track according to the vehicle positioning information;

and obtaining map data, and determining vehicle running environment information according to the map data and the vehicle running track.

In an embodiment of the present invention, the process of determining the target grid according to the grid space includes:

after the vehicle running environment information is decomposed into a grid space, the running direction of the current vehicle is obtained, and traffic flow when other vehicles move close to the current vehicle is obtained;

determining the direction of a risk source of the current vehicle according to the traffic flow and the driving direction of the current vehicle;

predicting the probability of collision between other vehicles and the current vehicle and the collision area based on the risk source direction;

and screening out grids corresponding to the predicted collision areas from the grid space to be used as target grids.

In an embodiment of the present invention, the adjusting the vehicle sensor includes: angle adjustment and/or position adjustment.

In an embodiment of the present invention, the adjusting the position of the vehicle sensor includes: moving the vehicle sensor up and down, moving the vehicle sensor left and right and/or moving the vehicle sensor front and back, and adjusting the original spatial position and the corresponding coverage area of the vehicle sensor;

when carrying out angle adjustment to the vehicle sensor, include: and carrying out clockwise rotation or anticlockwise rotation on the vehicle sensor, and adjusting the original angle and the corresponding coverage area of the vehicle sensor.

In an embodiment of the present invention, when obtaining the vehicle driving information, the method further includes: acquiring a vehicle function starting state, and turning on or off one or more vehicle sensors arranged at different positions of a vehicle according to a vehicle function starting state result; wherein the vehicle function comprises at least one of: the automatic driving function, the auxiliary driving function, the lane changing function, the steering function and the constant-speed cruising function.

In an embodiment of the present invention, the method further includes:

providing one or more vehicle sensors on a front side of the vehicle;

and/or, providing one or more vehicle sensors at a rear side of the vehicle;

and/or, one or more vehicle sensors are provided on the left side of the vehicle;

and/or, one or more sensors are disposed on the right side of the vehicle.

The present invention also provides a control system for a vehicle sensor, the system comprising:

the information acquisition module is used for acquiring vehicle running information; the vehicle running information at least includes vehicle running environment information;

the information decomposition module is used for decomposing the vehicle running environment information into a grid space and determining a target grid according to the grid space;

and the vehicle sensor adjusting module is used for acquiring the perception capability of a vehicle sensor to the grid space, adjusting the vehicle sensor according to the acquired perception capability and controlling the target grid in the coverage area of the vehicle sensor.

The invention also provides a vehicle, and the vehicle is provided with the control system.

As described above, the present invention provides a method and a system for controlling a vehicle sensor, which have the following advantages: according to the invention, the angle and/or position of the sensor are/is adjusted, so that the mobility of the vehicle sensor can be increased, the original coverage angle and coverage area of the vehicle sensor are changed, and the problem of limited coverage capability of the vehicle sensor due to fixed arrangement of the vehicle sensor in the automatic driving vehicle in the prior art can be solved. Meanwhile, the automatic driving perception capability is optimized by dynamically changing the arrangement form of the sensors, the requirement of the automatic driving function on environment perception can be met in real time, and better user experience and more reliable driving safety are realized.

Drawings

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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic flow chart of a control method for a vehicle sensor according to an embodiment;

FIG. 2 is a schematic diagram of a grid space provided in one embodiment;

FIG. 3 is a schematic view of a coverage area of a vehicle sensor under a normal driving condition of a vehicle according to an embodiment;

FIG. 4 is a schematic view of a coverage area of a vehicle sensor when a driver assistance function is activated for a vehicle according to an embodiment;

FIG. 5 is a schematic view of the coverage area of vehicle sensors when a lane change or steering function is activated for a vehicle according to one embodiment;

FIG. 6 is a schematic view of a vehicle sensor coverage area when the cruise control function is activated according to an exemplary embodiment;

fig. 7 is a schematic hardware configuration diagram of a control system of a vehicle sensor according to an embodiment.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Referring to fig. 1, the present invention provides a control method of a vehicle sensor, including the steps of:

s100, acquiring vehicle running information; the vehicle running information at least includes vehicle running environment information;

s200, decomposing the vehicle running environment information into a grid space, and determining a target grid according to the grid space;

s300, acquiring the sensing capability of a vehicle sensor to the grid space, adjusting the vehicle sensor according to the acquired sensing capability, and controlling the target grid in the coverage area of the vehicle sensor.

In the method, the target grid is the grid which needs to be sensed by the vehicle, and the sensing capability and difference of different vehicle sensors on the grid space are tested and determined in the design stage of the vehicle sensors in advance. Therefore, the method can increase the mobility of the vehicle sensor and change the original coverage angle and coverage area of the vehicle sensor by adjusting the angle and/or position of the sensor, thereby solving the problem of limited coverage capability of the vehicle sensor due to fixed arrangement of the vehicle sensor in the automatic driving vehicle in the prior art. Meanwhile, the method optimizes the automatic driving perception capability by dynamically changing the arrangement form of the sensors, can meet the requirement of the automatic driving function on environment perception in real time, and realizes better user experience and more reliable driving safety.

According to the above, in an exemplary embodiment, the vehicle travel information further includes vehicle positioning information; the forming process of the vehicle running environment information includes: acquiring vehicle positioning information; generating a vehicle running track according to the vehicle positioning information; and obtaining map data, and determining vehicle running environment information according to the map data and the vehicle running track. As an example, for example, GNSS (Global Navigation Satellite System, GNSS for short) positioning information of a vehicle is first acquired, and then a travel track of the current vehicle is generated from the acquired GNSS positioning information; and then acquiring high-precision map data, and combining the acquired high-precision map data with the running track of the current vehicle to obtain the running environment information of the current vehicle. In this embodiment, the high-precision map data may be map data with a precision of a decimeter level, or may be map data capable of providing road-level navigation information and lane-level navigation information. The vehicle running environment information in the present embodiment may be vehicle surrounding space information.

According to the above description, in an exemplary embodiment, the process of determining the target grid according to the grid space includes: after the vehicle running environment information is decomposed into a grid space, the running direction of the current vehicle is obtained, and traffic flow when other vehicles move close to the current vehicle is obtained; determining the direction of a risk source of the current vehicle according to the traffic flow and the driving direction of the current vehicle; predicting the probability of collision between other vehicles and the current vehicle and the collision area based on the risk source direction; and screening out grids corresponding to the predicted collision areas from the grid space to be used as target grids. As an example, as shown in fig. 2, the present embodiment first decomposes the running environment information of the current vehicle into a grid space composed of a plurality of grids, then acquires the running direction of the current vehicle, and acquires the traffic flow when other vehicles move close to the current vehicle; determining the direction of a risk source of the current vehicle according to the acquired traffic flow and the driving direction of the current vehicle, and predicting the probability of collision between other vehicles and the current vehicle and the collision area based on the direction of the risk source; then, a grid corresponding to the predicted collision region is screened out from the grid space as a grid which the vehicle sensor must sense, namely, a target grid. In this embodiment, the risk source direction is determined based on the traveling direction of the current vehicle, and the direction pointed by the head of the current vehicle is defined as 0 ° and 360 ° in a clockwise direction for one turn, and if there is a traffic flow moving to the position of the current vehicle in a certain direction, the direction is the risk source direction.

In accordance with the above, in an exemplary embodiment, the adjusting of the vehicle sensor comprises: angle adjustment and/or position adjustment. Specifically, the vehicle sensor position adjustment method includes: and moving the vehicle sensor up and down, moving the vehicle sensor left and right and/or moving the vehicle sensor front and back, and adjusting the original spatial position of the vehicle sensor and the coverage area corresponding to the original spatial position. In angularly adjusting the vehicle sensor, the method includes: and rotating the vehicle sensor clockwise or anticlockwise, and adjusting the original angle of the vehicle sensor and the coverage area corresponding to the original angle.

As an example, the present embodiment may adjust the original spatial position of the vehicle sensor and the coverage area corresponding to the original spatial position by performing up-down movement, left-right movement, and/or front-back movement on the vehicle sensor through a mechanical structure. For example, when the vehicle sensor and the vehicle are fixedly connected through the bracket, the bracket can be moved up and down, left and right and/or move, which is equivalent to indirectly adjusting the vehicle sensor to change the original spatial position of the vehicle sensor and the coverage area corresponding to the original spatial position. Therefore, the embodiment can increase the mobility of the vehicle sensor by adjusting the position of the sensor, change the original coverage angle and coverage area of the vehicle sensor, and solve the problem of limited coverage capability of the vehicle sensor due to fixed arrangement of the vehicle sensor in the automatic driving vehicle in the prior art.

As another example, the present embodiment may further perform rotation control on the vehicle sensor through a mechanical structure, and change the original angle and the coverage area corresponding to the original angle, where the rotation direction includes clockwise rotation and counterclockwise rotation, and the clockwise rotation is defined as a positive direction and the counterclockwise rotation is defined as a negative direction in this example. If the rotation angle is "+ 15 °", it means that the vehicle sensor is controlled to rotate 15 ° clockwise. Therefore, the sensor angle adjustment method can increase the mobility of the vehicle sensor, change the original coverage angle and coverage area of the vehicle sensor, and solve the problem of limited coverage capability of the vehicle sensor due to fixed arrangement of the vehicle sensor in the automatic driving vehicle in the prior art.

In one exemplary embodiment, when acquiring the vehicle travel information, the method further includes: acquiring a vehicle function starting state, and turning on or off one or more vehicle sensors arranged at different positions of a vehicle according to a vehicle function starting state result; wherein the vehicle function comprises at least one of: the automatic driving function, the auxiliary driving function, the lane changing function, the steering function and the constant-speed cruising function.

In some exemplary embodiments, the vehicle sensors in the present method may be disposed on the front, rear, left, and/or right sides of the vehicle. As an example, one or more vehicle sensors may be provided, for example, on the front side of the vehicle. As another example, one or more vehicle sensors may be provided, for example, on the rear side of the vehicle. As another example, one or more vehicle sensors may be provided, for example, on the left side of the vehicle. As yet another example, one or more sensors may be provided on the right side of the vehicle, for example. The vehicle sensor in the method can be set according to actual requirements, for example, an infrared sensor, a distance sensor, and the like can be set.

In a specific embodiment, a vehicle sensor a is provided at the front side of the vehicle M, a vehicle sensor B is provided at the rear side of the vehicle M, a vehicle sensor C is provided at the left side of the vehicle M, and a vehicle sensor D is provided at the right side of the vehicle M, respectively. As shown in fig. 3, when the vehicle M is in the normal running state, only the vehicle sensor a on the front side of the vehicle M and the vehicle sensor B on the rear side of the vehicle M are in the operating state, and the vehicle sensor C on the left side of the vehicle M and the vehicle sensor D on the right side of the vehicle M are in the folded state. At this time, the coverage area of the vehicle sensor in the vehicle M is the coverage area corresponding to the vehicle sensor a and the vehicle sensor B in the unadjusted state.

In another specific embodiment, a vehicle sensor a is provided at the front side of the vehicle N, a vehicle sensor B is provided at the rear side of the vehicle N, a vehicle sensor C is provided at the left side of the vehicle N, and a vehicle sensor D is provided at the right side of the vehicle N, respectively. When the vehicle N turns on the drive assist function, the vehicle needs to cover the peripheral area as much as possible, with the vehicle sensor C on the left side of the vehicle N and the vehicle sensor D on the right side of the vehicle N deployed sideways. As shown in fig. 4, when the vehicle N turns on the drive assist function, the vehicle sensor a on the front side of the vehicle N, the vehicle sensor B on the rear side of the vehicle N, the vehicle sensor C on the left side of the vehicle N, and the vehicle sensor D on the right side of the vehicle N are all in an operating state. At this time, the coverage area of the vehicle sensor in the vehicle N is the coverage area corresponding to the vehicle sensor a, the vehicle sensor B, the vehicle sensor C, and the vehicle sensor D in the unadjusted state.

In another embodiment, a vehicle sensor a is provided at the front side of the vehicle X, a vehicle sensor B is provided at the rear side of the vehicle X, a vehicle sensor C is provided at the left side of the vehicle X, and a vehicle sensor D is provided at the right side of the vehicle X, respectively. As shown in fig. 5, when the vehicle X turns on the lane change or steering function, the vehicle sensor a on the front side of the vehicle X, the vehicle sensor B on the rear side of the vehicle X, the vehicle sensor C on the left side of the vehicle X, and the vehicle sensor D on the right side of the vehicle X are all in an operating state. When the vehicle X starts the lane changing or steering function, the perception redundancy of the side of the vehicle needs to be enhanced through the pointing of the rotation sensor, so the embodiment adjusts the angles of the vehicle sensor B and the vehicle sensor D by rotating the vehicle sensor B at the rear side of the vehicle X and the vehicle sensor D at the right side of the vehicle X counterclockwise to solve the problem of the area coverage when the vehicle X starts the lane changing or steering function. At this time, the coverage areas of the vehicle sensors in the vehicle X are the coverage areas corresponding to the vehicle sensor a and the vehicle sensor C in the unadjusted state, and the coverage areas corresponding to the vehicle sensor B and the vehicle sensor D after the counterclockwise angle adjustment.

In another embodiment, a vehicle sensor a is provided at the front side of the vehicle Y, a vehicle sensor B is provided at the rear side of the vehicle Y, a vehicle sensor C is provided at the left side of the vehicle Y, and a vehicle sensor D is provided at the right side of the vehicle Y, respectively. As shown in fig. 6, when the vehicle Y turns on the constant speed cruise function, the vehicle sensor a on the front side of the vehicle Y, the vehicle sensor B on the rear side of the vehicle Y, the vehicle sensor C on the left side of the vehicle Y, and the vehicle sensor D on the right side of the vehicle Y are all in an operating state. When the vehicle Y starts the cruise control function, the vehicle needs richer front sensing information, so the embodiment implements front sensing enhancement by performing counterclockwise angle adjustment on the vehicle sensor C on the left side of the vehicle Y and the vehicle sensor D on the right side of the vehicle Y, which is equivalent to forward sensing enhancement by turning the vehicle sensor C and the vehicle sensor D forward. At this time, the coverage areas of the vehicle sensors in the vehicle Y are the coverage areas corresponding to the vehicle sensor a and the vehicle sensor B in the unadjusted state, and the coverage areas corresponding to the vehicle sensor C and the vehicle sensor D after the counterclockwise angle adjustment.

In summary, the present invention provides a method for controlling a vehicle sensor, which can increase the mobility of the vehicle sensor by adjusting the angle and/or position of the sensor, and change the original coverage angle and coverage area of the vehicle sensor, thereby solving the problem of the prior art that the coverage capability of an autonomous vehicle is limited due to the fixed arrangement of the vehicle sensor. Meanwhile, the automatic driving perception capability is optimized by dynamically changing the arrangement form of the sensors, the requirement of the automatic driving function on environment perception can be met in real time, and better user experience and more reliable driving safety are realized.

As shown in fig. 7, the present invention also provides a control system of a vehicle sensor, the system comprising:

the information acquisition module M10 is used for acquiring vehicle running information; the vehicle running information at least includes vehicle running environment information;

the information decomposition module M20 is used for decomposing the vehicle running environment information into a grid space and determining a target grid according to the grid space;

and the vehicle sensor adjusting module M30 is used for acquiring the perception capability of a vehicle sensor on the grid space, adjusting the vehicle sensor according to the acquired perception capability and controlling the target grid in the coverage area of the vehicle sensor.

In the system, the target grid is the grid which needs to be sensed by the vehicle, and the sensing capability and difference of different vehicle sensors to the grid space are tested and determined in the design stage of the vehicle sensors in advance. Therefore, the system can increase the mobility of the vehicle sensor and change the original coverage angle and coverage area of the vehicle sensor by adjusting the angle and/or position of the sensor, thereby solving the problem of limited coverage capability of the vehicle sensor due to fixed arrangement of the vehicle sensor in the automatic driving vehicle in the prior art. Meanwhile, the system optimizes the automatic driving perception capability by dynamically changing the arrangement form of the sensors, can meet the requirement of the automatic driving function on environment perception in real time, and realizes better user experience and more reliable driving safety.

According to the above, in an exemplary embodiment, the vehicle travel information further includes vehicle positioning information; the forming process of the vehicle running environment information includes: acquiring vehicle positioning information; generating a vehicle running track according to the vehicle positioning information; and obtaining map data, and determining vehicle running environment information according to the map data and the vehicle running track. As an example, for example, GNSS (Global Navigation Satellite System, GNSS for short) positioning information of a vehicle is first acquired, and then a travel track of the current vehicle is generated from the acquired GNSS positioning information; and then acquiring high-precision map data, and combining the acquired high-precision map data with the running track of the current vehicle to obtain the running environment information of the current vehicle. In this embodiment, the high-precision map data may be map data with a precision of a decimeter level, or may be map data capable of providing road-level navigation information and lane-level navigation information. The vehicle running environment information in the present embodiment may be vehicle surrounding space information.

According to the above description, in an exemplary embodiment, the process of determining the target grid according to the grid space includes: after the vehicle running environment information is decomposed into a grid space, the running direction of the current vehicle is obtained, and traffic flow when other vehicles move close to the current vehicle is obtained; determining the direction of a risk source of the current vehicle according to the traffic flow and the driving direction of the current vehicle; predicting the probability of collision between other vehicles and the current vehicle and the collision area based on the risk source direction; and screening out grids corresponding to the predicted collision areas from the grid space to be used as target grids. As an example, as shown in fig. 2, the present embodiment first decomposes the running environment information of the current vehicle into a grid space composed of a plurality of grids, then acquires the running direction of the current vehicle, and acquires the traffic flow when other vehicles move close to the current vehicle; determining the direction of a risk source of the current vehicle according to the acquired traffic flow and the driving direction of the current vehicle, and predicting the probability of collision between other vehicles and the current vehicle and the collision area based on the direction of the risk source; then, a grid corresponding to the predicted collision region is screened out from the grid space as a grid which the vehicle sensor must sense, namely, a target grid. In this embodiment, the risk source direction is determined based on the traveling direction of the current vehicle, and the direction pointed by the head of the current vehicle is defined as 0 ° and 360 ° in a clockwise direction for one turn, and if there is a traffic flow moving to the position of the current vehicle in a certain direction, the direction is the risk source direction.

In accordance with the above, in an exemplary embodiment, the adjusting of the vehicle sensor comprises: angle adjustment and/or position adjustment. Specifically, the vehicle sensor position adjustment method includes: and moving the vehicle sensor up and down, moving the vehicle sensor left and right and/or moving the vehicle sensor front and back, and adjusting the original spatial position of the vehicle sensor and the coverage area corresponding to the original spatial position. In angularly adjusting the vehicle sensor, the method includes: and rotating the vehicle sensor clockwise or anticlockwise, and adjusting the original angle of the vehicle sensor and the coverage area corresponding to the original angle.

As an example, the present embodiment may adjust the original spatial position of the vehicle sensor and the coverage area corresponding to the original spatial position by performing up-down movement, left-right movement, and/or front-back movement on the vehicle sensor through a mechanical structure. For example, when the vehicle sensor and the vehicle are fixedly connected through the bracket, the bracket can be moved up and down, left and right and/or move, which is equivalent to indirectly adjusting the vehicle sensor to change the original spatial position of the vehicle sensor and the coverage area corresponding to the original spatial position. Therefore, the embodiment can increase the mobility of the vehicle sensor by adjusting the position of the sensor, change the original coverage angle and coverage area of the vehicle sensor, and solve the problem of limited coverage capability of the vehicle sensor due to fixed arrangement of the vehicle sensor in the automatic driving vehicle in the prior art.

As another example, the present embodiment may further perform rotation control on the vehicle sensor through a mechanical structure, and change the original angle and the coverage area corresponding to the original angle, where the rotation direction includes clockwise rotation and counterclockwise rotation, and the clockwise rotation is defined as a positive direction and the counterclockwise rotation is defined as a negative direction in this example. If the rotation angle is "+ 15 °", it means that the vehicle sensor is controlled to rotate 15 ° clockwise. Therefore, the sensor angle adjustment method can increase the mobility of the vehicle sensor, change the original coverage angle and coverage area of the vehicle sensor, and solve the problem of limited coverage capability of the vehicle sensor due to fixed arrangement of the vehicle sensor in the automatic driving vehicle in the prior art.

In one exemplary embodiment, when acquiring the vehicle travel information, the method further includes: acquiring a vehicle function starting state, and turning on or off one or more vehicle sensors arranged at different positions of a vehicle according to a vehicle function starting state result; wherein the vehicle function comprises at least one of: the automatic driving function, the auxiliary driving function, the lane changing function, the steering function and the constant-speed cruising function.

In some exemplary embodiments, the vehicle sensors in the present system may be disposed on the front, rear, left, and/or right sides of the vehicle. As an example, one or more vehicle sensors may be provided, for example, on the front side of the vehicle. As another example, one or more vehicle sensors may be provided, for example, on the rear side of the vehicle. As another example, one or more vehicle sensors may be provided, for example, on the left side of the vehicle. As yet another example, one or more sensors may be provided on the right side of the vehicle, for example. The vehicle sensor in the system can be set according to actual requirements, for example, an infrared sensor, a distance sensor and the like can be set.

In a specific embodiment, a vehicle sensor a is provided at the front side of the vehicle M, a vehicle sensor B is provided at the rear side of the vehicle M, a vehicle sensor C is provided at the left side of the vehicle M, and a vehicle sensor D is provided at the right side of the vehicle M, respectively. As shown in fig. 3, when the vehicle M is in the normal running state, only the vehicle sensor a on the front side of the vehicle M and the vehicle sensor B on the rear side of the vehicle M are in the operating state, and the vehicle sensor C on the left side of the vehicle M and the vehicle sensor D on the right side of the vehicle M are in the folded state. At this time, the coverage area of the vehicle sensor in the vehicle M is the coverage area corresponding to the vehicle sensor a and the vehicle sensor B in the unadjusted state.

In another specific embodiment, a vehicle sensor a is provided at the front side of the vehicle N, a vehicle sensor B is provided at the rear side of the vehicle N, a vehicle sensor C is provided at the left side of the vehicle N, and a vehicle sensor D is provided at the right side of the vehicle N, respectively. When the vehicle N turns on the drive assist function, the vehicle needs to cover the peripheral area as much as possible, with the vehicle sensor C on the left side of the vehicle N and the vehicle sensor D on the right side of the vehicle N deployed sideways. As shown in fig. 4, when the vehicle N turns on the drive assist function, the vehicle sensor a on the front side of the vehicle N, the vehicle sensor B on the rear side of the vehicle N, the vehicle sensor C on the left side of the vehicle N, and the vehicle sensor D on the right side of the vehicle N are all in an operating state. At this time, the coverage area of the vehicle sensor in the vehicle N is the coverage area corresponding to the vehicle sensor a, the vehicle sensor B, the vehicle sensor C, and the vehicle sensor D in the unadjusted state.

In another embodiment, a vehicle sensor a is provided at the front side of the vehicle X, a vehicle sensor B is provided at the rear side of the vehicle X, a vehicle sensor C is provided at the left side of the vehicle X, and a vehicle sensor D is provided at the right side of the vehicle X, respectively. As shown in fig. 5, when the vehicle X turns on the lane change or steering function, the vehicle sensor a on the front side of the vehicle X, the vehicle sensor B on the rear side of the vehicle X, the vehicle sensor C on the left side of the vehicle X, and the vehicle sensor D on the right side of the vehicle X are all in an operating state. When the vehicle X starts the lane changing or steering function, the perception redundancy of the side of the vehicle needs to be enhanced through the pointing of the rotation sensor, so the embodiment adjusts the angles of the vehicle sensor B and the vehicle sensor D by rotating the vehicle sensor B at the rear side of the vehicle X and the vehicle sensor D at the right side of the vehicle X counterclockwise to solve the problem of the area coverage when the vehicle X starts the lane changing or steering function. At this time, the coverage areas of the vehicle sensors in the vehicle X are the coverage areas corresponding to the vehicle sensor a and the vehicle sensor C in the unadjusted state, and the coverage areas corresponding to the vehicle sensor B and the vehicle sensor D after the counterclockwise angle adjustment.

In another embodiment, a vehicle sensor a is provided at the front side of the vehicle Y, a vehicle sensor B is provided at the rear side of the vehicle Y, a vehicle sensor C is provided at the left side of the vehicle Y, and a vehicle sensor D is provided at the right side of the vehicle Y, respectively. As shown in fig. 6, when the vehicle Y turns on the constant speed cruise function, the vehicle sensor a on the front side of the vehicle Y, the vehicle sensor B on the rear side of the vehicle Y, the vehicle sensor C on the left side of the vehicle Y, and the vehicle sensor D on the right side of the vehicle Y are all in an operating state. When the vehicle Y starts the cruise control function, the vehicle needs richer front sensing information, so the embodiment implements front sensing enhancement by performing counterclockwise angle adjustment on the vehicle sensor C on the left side of the vehicle Y and the vehicle sensor D on the right side of the vehicle Y, which is equivalent to forward sensing enhancement by turning the vehicle sensor C and the vehicle sensor D forward. At this time, the coverage areas of the vehicle sensors in the vehicle Y are the coverage areas corresponding to the vehicle sensor a and the vehicle sensor B in the unadjusted state, and the coverage areas corresponding to the vehicle sensor C and the vehicle sensor D after the counterclockwise angle adjustment.

In summary, the present invention provides a control system for a vehicle sensor, which can increase the mobility of the vehicle sensor by adjusting the angle and/or position of the sensor, and change the original coverage angle and coverage area of the vehicle sensor, thereby solving the problem of the prior art that the coverage capability of an autonomous vehicle is limited due to the fixed arrangement of the vehicle sensor. Meanwhile, the automatic driving perception capability is optimized by dynamically changing the arrangement form of the sensors, the requirement of the automatic driving function on environment perception can be met in real time, and better user experience and more reliable driving safety are realized.

In an exemplary embodiment, the invention also provides a vehicle, which is provided with the control system of the vehicle sensor. For the functions and technical effects of the vehicle, please refer to the above control system, which is not described herein again.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.