Detection device and method for adjusting parameter thereof

Patent metadata

Field	Value
Publication number	US-11346926-B2
Application number	US-202016930141-A
Country	US
Kind code	B2
Filing date	Jul 15, 2020
Priority date	Jan 17, 2018
Publication date	May 31, 2022
Grant date	May 31, 2022

Abstract

The present invention provides a detection device and a method for adjusting a parameter thereof. The device includes a real-time collection module, configured to collect and obtain environment information in real time; a real-time location information obtaining module, configured to obtain location information in real time; a parameter determining module, configured to determine a value of a target parameter of the detection device based on at least either the obtained environment information or the obtained location information; and a parameter adjustment module, configured to adjust the parameter of the detection device in real time based on the determined value of the target parameter. Based on the present invention, the parameter of the detection device can be adjusted in real time, and the detection device can adapt to diversified road conditions and improve detection accuracy.

First claim

What is claimed is:

1. A detection device, comprising:
a lidar having a plurality of laser transceivers and a scanner, wherein the each of the plurality of laser transceivers is configured to emit light to the scanner at a respective incident angle to produce an individual field of view to collectively form a first field of view in a first resolution, and the lidar is configured to collect environment information in real time using the first field of view;
a real-time location information obtaining module, configured to obtain location information in real time;
a parameter determining module, configured to determine a value of a target parameter of the lidar based on the obtained environment information and the obtained location information, wherein the target parameter includes the first resolution in the first field of view and a power of the lidar, and the parameter determining module is configured to:
change the first resolution of the first field of view based on detecting an object in the environment information, wherein the changing comprises adjusting the respective incident angles of the laser transceivers to produce a second field of view such that the second field of view is formed by an overlapping region of two or more of the individual fields of view of the laser transceivers, wherein the second field of view has a second resolution greater than the first resolution, and wherein the second field of view is smaller than the first field of view, and
dynamically adjust the power of the lidar in response to detected reflectance of road obstacles; and

a parameter adjustment module, configured to adjust a parameter of the lidar in real time based on the second field of view having the second resolution, wherein the lidar is configured to detect the object with the second resolution of the second field of view and the adjusted power of the lidar, and wherein the parameter adjustment module is further configured to adjust a current field of view of the lidar from focusing on a view directly ahead a vehicle to an entire field of view when the vehicle is moved from an expressway to a city street.

2. The detection device according to claim 1 , wherein the environment information comprises at least one of: weather information, road condition information, or traffic indication information;
or, the location information comprises: an absolute location, and map information near the absolute location;
or, the detection device further comprises at least one of: a vision sensor, a millimeter wave radar, a laser rangefinder, or an infrared night vision device;
or, the target parameter of the lidar comprises at least one of: a field-of-view range of the lidar, a wavelength of the lidar, a horizontal resolution of the lidar, a vertical resolution of the lidar, a scanning frequency of the lidar, a beam tilt angle of the lidar, or the power of the lidar.

3. The detection device according to claim 1 , wherein
each of the laser transceivers is a coaxial laser transceiver or a non-coaxial laser transceiver.

4. The detection device according to claim 1 , wherein each of the respective incident angles is configured to stitch the individual fields of view.

5. The detection device according to claim 1 , wherein the parameter determining module comprises: a desired detection angle generating submodule, configured to generate a desired detection angle based on the obtained environment information and the obtained location information, wherein the desired detection angle generating submodule comprises:
a first determining submodule, configured to use a first angle in coincidence with a vehicle centerline from back to front as a desired detection angle when movement information is flat road movement or road condition information is a flat road condition;
a second determining submodule, configured to use a second angle, which is obtained by deviating the vehicle centerline downward by a preset first angle, as the desired detection angle when the movement information is an uphill movement or the road condition information is an uphill road condition;
a third determining submodule, configured to use a third angle, which is obtained by deviating the vehicle centerline upward by a preset second angle, as the desired detection angle when the movement information is a downhill movement or the road condition information is a downhill road condition;
a fourth determining submodule, configured to use an angle, which is obtained by deviating the vehicle centerline leftward by a preset third angle, as the desired detection angle when the movement information is a left turn movement; and
a fifth determining submodule, configured to use an angle, which is obtained by deviating the vehicle centerline rightward by a preset fourth angle, as the desired detection angle when the movement information is a right turn movement,
wherein the parameter adjustment module is configured to adjust an orientation angle at a center of the current field of view of the lidar to the desired detection angle.

6. The detection device according to claim 1 , wherein the parameter determining module comprises a target region determining submodule;
the target region determining submodule is configured to determine a resolution requirement and a field-of-view requirement based on the obtained environment information, and determine a target region according to the resolution requirement and the field-of-view requirement; and
the parameter adjustment module is configured to adjust the current field of view of the lidar to the target region.

7. The detection device according to claim 6 , wherein the target region determining submodule, is configured to obtain environment information of a first field-of-view range based on a real-time point cloud map of the lidar; and then determine a target region in a second field-of-view range based on a suspected object in the environment information of the first field-of-view range, and adjust the current field of view of the lidar to the target region in the second field-of-view range; and
a resolution of the target region in the second field-of-view range is higher than a resolution of the first field-of-view range, and high resolution information of the suspected object is obtained based on the target region of the second field-of-view range.

8. A method, comprising:
collecting environment information around a vehicle in real time with a lidar having a first resolution of a first field of view, wherein the lidar having a plurality of laser transceivers and a scanner, wherein the each of the plurality of laser transceivers is configured to emit light to the scanner at a respective incident angle to produce an individual field of view to collectively form the first field of view in the first resolution;
obtaining location information of the vehicle in real time;
determining a value of a target parameter of a vehicle-mounted detection device that includes the lidar based on the obtained environment information around the vehicle and the location information of the vehicle, wherein the target parameter includes the first resolution in the first field of view and a power of the lidar;
in response to detecting an object in the environment information, adjusting the respective incident angles of the laser transceivers to produce a second field of view such that the second field of view is formed by an overlapping region of two or more of the individual fields of view of the laser transceivers, wherein the second field of view has a second resolution greater than the first resolution, and wherein the second field of view is smaller than the first field of view;
dynamically adjusting the power of the lidar in response to detected reflectance of road obstacles around the v

Assignees

• Hesai Technology Co Ltd

Inventors

• Ye Liangchen
• Mao Shengping
• Wang Rui
• Zhu Xuezhou
• Xiang Shaoqing
• Li Yifan
• Wu Shixiang

Classifications

• H04N23/62

  Control of parameters via user interfaces · CPC title

• G01S17/931 Primary

  of land vehicles · CPC title

• G01S7/497 Primary

  Means for monitoring or calibrating · CPC title

• G01S7/4972

  Alignment of sensor · CPC title

• G01S13/931

  of land vehicles · CPC title