CN109955829A - Clean method and device, mobile lidar sensing system and the vehicle of laser radar sensor - Google Patents
Clean method and device, mobile lidar sensing system and the vehicle of laser radar sensor Download PDFInfo
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- CN109955829A CN109955829A CN201711419259.XA CN201711419259A CN109955829A CN 109955829 A CN109955829 A CN 109955829A CN 201711419259 A CN201711419259 A CN 201711419259A CN 109955829 A CN109955829 A CN 109955829A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000004140 cleaning Methods 0.000 claims abstract description 49
- 238000002310 reflectometry Methods 0.000 claims abstract description 43
- 238000010438 heat treatment Methods 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims 1
- 108010076504 Protein Sorting Signals Proteins 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 239000003245 coal Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 239000003500 flue dust Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
- B60S1/60—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens for signalling devices, e.g. reflectors
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of methods for cleaning laser radar sensor, which is characterized in that it includes the following steps: the sensing data that (11) object is obtained from laser radar, and the sensing data includes the distance and reflectivity of the object；Obtain (12) preset value D；According to the distance of preset value D and the object of acquisition, judge whether the outer surface of (13) laser radar sensor is covered by object；(14) laser radar sensor is cleaned, if the outer surface of laser radar sensor is covered by object, and the reflectivity of object belongs to range R.The present invention relates to a kind of device, a kind of mobile lidar sensing system and vehicles and a kind of computer readable storage medium for cleaning laser radar sensor.
Description
Technical field
The present invention relates to onboard sensor technical fields；In particular it relates to a kind of cleaning laser radar sensor
Method and device, a kind of mobile lidar sensing system and vehicle.
Background technique
With the rise of automatic Pilot, onboard sensor technology is rapidly developed.Due to being wanted for environment sensing
Ask increasingly stringent, application of the laser radar in automatic Pilot field is also more and more extensive.Compared to other types of automatic Pilot
The distance of sensor, such as camera, laser radar detection is farther, and precision is higher.LiDAR is English Light Detection
The abbreviation of And Ranging, Chinese laser radar.Laser radar is to detect target position, speed by transmitting laser beam
The radar system of the features such as degree.Laser radar emits a large amount of photons to ambient enviroment in a short time, is reflected by measurement
The flight time (TOF, Time of Flight) of photon calculates at a distance from surrounding objects.
Laser radar is the equipment of quick creation ambient enviroment point cloud.Laser radar is at work constantly to ambient enviroment
Emit photon, by measuring the time of the photon fired back, calculates at a distance from object, and then quickly create ambient enviroment
Point cloud.Currently, laser radar can create up to 1,500,000 data points each second.Laser radar can be around moment constructs
The 3D map of environment has many advantages, such as measurement accuracy height, good directionality.Since actively to emit photon, LiDAR was less susceptible to by week
The influence (for opposite camera) of collarette border dim light, flue dust, and camera needs to consume when carrying out image recognition processing
A large amount of processor ability, and the 3D cartographic information that laser radar generates is easier by computer analyzing.In automatic Pilot field,
Laser radar complements one another with other sensors, can effectively improve the accuracy that vehicle perceives ambient enviroment.
But laser radar also has apparent limitation.Than under relatively rugged environment, such as thick fog and sleet, mainly
To influence include scattering, is reflected and several aspects that decay.Especially when the outer surface of laser radar is covered by snow, laser radar hair
The laser beam penetrated can not penetrate the snow deposit covered on outer surface.Laser radar can not perceive and create the point of ambient enviroment at this time
Cloud.On the other hand, improving laser emitting power can be improved anti-interference ability, but this method is the case where requiring power consumption
It is not applicable.
Therefore, the method and device that cleaning laser radar sensor how is capable of providing under rugged environment becomes current
Urgent problem to be solved.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of methods for cleaning laser radar sensor, which is characterized in that
It include: the sensing data that object is obtained from laser radar, the sensing data includes the distance and reflectivity of the object；It obtains
Preset value D；According to the distance of preset value D and the object of acquisition, judge the outer surface of laser radar sensor whether by object
Covering；Laser radar sensor is cleaned, if the outer surface of laser radar sensor is covered by object, and the reflectivity category of object
In range R.
Whether the present invention be capped/is blocked by the Distance Judgment laser radar sensor outer surface of object, then basis
The reflectivity of object judges whether the object is snow.If object is snow, start cleaning laser radar sensor outer surface
Function.After the snow deposit for removing the covering of laser radar sensor outer surface, the laser beam of laser radar transmitting is no longer disturbed,
Laser radar can perceive and create again the point cloud of ambient enviroment at this time.
Measured target body surface reflectivity is the key parameter for being related to laser scanner measurement ability.And influence object
The factor of surface reflectivity mainly has color of object surface and surface type (matt highlights, smoothly, coarse etc.).Usually definition
Kodak's blank (Kodak white material) surface reflectivity is 100%.Common materials have different objects in nature
Body surface reflectivity, common are: trees 0.1%-0.18%, coal 4%-8%, avenge 20%-90%, metal surface 130%-
200%.Therefore, its type may infer that according to the reflectivity for being covered on laser radar sensor outer surface object.Then, with evidence
The object type of judgement come decide whether trigger laser radar cleaning function.
Optionally, the range R of the reflectivity is 0.2 to 1.0.
Optionally, the range R of the reflectivity is 0.4 to 0.9.
Optionally, the range R of the reflectivity is 0.7 to 0.9.
Optionally, step " cleaning laser radar sensor, if the outer surface of laser radar sensor is covered by object,
And the reflectivity of object belongs to range R " and includes:
--- the outer surface of heating laser radar sensor；Or
--- the outer surface of wiping laser radar sensor
To solve the above problems, the present invention also provides a kind of devices for cleaning laser radar sensor, which is characterized in that
It include: sensing data acquisition device, for obtaining the sensing data of object from laser radar, the sensing data includes the object
The distance and reflectivity of body；Preset value acquisition device, for obtaining preset value D；Judgment means, for according to preset value D and
The distance of the object of acquisition, judges whether the outer surface of laser radar sensor is covered by object；Cleaning device, it is sharp for cleaning
Optical radar sensor, if the outer surface of laser radar sensor is covered by object, and the reflectivity of object belongs to range R.
Optionally, the range R of the reflectivity is 0.2 to 1.0.
Optionally, the range R of the reflectivity is 0.4 to 0.9.
Optionally, the range R of the reflectivity is 0.7 to 0.9.
Optionally, the cleaning device includes:
--- heating device, the outer surface for heating laser radar sensor；Or
--- wiping arrangement, for wiping the outer surface of laser radar sensor.
To solve the above problems, the present invention also provides a kind of mobile lidar sensing systems comprising: storage
Device is stored with computer executable instructions in the memory；Processor, it is executable which is configured as execution computer
Instruction；The device and at least one laser radar sensor of cleaning laser radar sensor as described above；Wherein, the calculating
When machine executable instruction is executed by the processor, the device for cleaning laser radar sensor is made to execute the method according to the invention
Each step.
To solve the above problems, the present invention also provides a kind of vehicle, including above-mentioned mobile lidar sensor system
System.
To solve the above problems, the storage medium has the present invention also provides a kind of computer readable storage medium
Executable instruction, when executing described instruction, described instruction promotes computer to execute according to the method for the present invention.
Compared with prior art, technical solution of the present invention has the advantage that
In bigger snowy day gas, especially when the outer surface of laser radar is covered by snow, the present invention passes through object
Whether Distance Judgment laser radar sensor outer surface be capped/blocks, while judging that the object is according to the reflectivity of object
No is snow.The function of cleaning laser radar sensor outer surface is automatically activated if object is to avenge.Laser radar is removed to pass
After the snow deposit of sensor outer surface covering, the laser beam of laser radar transmitting is no longer disturbed, and laser radar can weigh at this time
The point cloud of new perception and creation ambient enviroment.The data accuracy of sensor perception will significantly improve, to also improve automatic
The safety of driving.Judge whether to need to clean laser radar sensor in addition, whole process does not need user, without user
Operation, brings great convenience to user.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the cleaning laser radar sensor of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the device of the cleaning laser radar sensor of the embodiment of the present invention.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
Detail is elaborated in the following description to fully understand the present invention.But the present invention can with it is a variety of not
Other way described herein is same as to implement, those skilled in the art can do class without violating the connotation of the present invention
Like popularization.Therefore the present invention is not limited by following public specific embodiment.
As described in the background art, laser radar measures reflected light by emitting photon to ambient enviroment
The time of son calculates at a distance from object, and then creates the point cloud of ambient enviroment.Than especially working as under relatively rugged environment
When (such as snow deposit of 5-10 cm thick) covering is avenged in the outer surface of laser radar, since snow deposit is thicker, laser radar transmitting
Laser beam can not penetrate the snow deposit covered on sensor outer surface.As described above, in this case laser radar obtain
The quality of data will be greatly reduced, or even can not establish environment point cloud.The environment sensing in traveling is caused to driving a car
Big inconvenience, and cause security risk.
Whether inventor proposes, be capped/can be blocked by the Distance Judgment laser radar sensor outer surface of object,
Judge whether the object is snow according to the reflectivity of object simultaneously.Cleaning laser radar is automatically activated if object is to avenge to pass
The function of sensor outer surface.After the snow deposit for removing the covering of laser radar sensor outer surface, the laser light of laser radar transmitting
Shu Buzai is disturbed.
Referring to Figure 1, Fig. 1 is the flow chart of the method for the cleaning laser radar sensor of the embodiment of the present invention, described clear
The method of clean laser radar sensor includes:
Step 11: from laser radar obtain object sensing data, the sensing data include the object distance and
Reflectivity；
Step 12: obtaining preset value D；
Step 13: according to the distance of preset value D and the object of acquisition, judge laser radar sensor outer surface whether
It is covered by object；
Step 14: cleaning laser radar sensor, if the outer surface of laser radar sensor is covered by object, and object
The reflectivity of body belongs to range R.
Specifically, in step 11, the sensing data of object is obtained from laser radar first, the sensing data includes but not
It is limited to the reflectivity of the distance between the object and laser radar sensor He the body surface.
In step 12, a preset value D is obtained.Preset value D can be between 0-10 centimetre.Then step 13 is executed,
According to the distance of preset value D and the object of acquisition, judge whether the outer surface of laser radar sensor is covered by object.Specifically
Ground, it is assumed that preset value D is 5 centimetres, when laser radar obtains the distance between object and laser radar sensor less than 5 centimetres
When, then it may determine that the outer surface of laser radar sensor is covered by object.In addition, working as the appearance of laser radar sensor
It, can also be according to the sensing data of acquisition and the case where establish environment point cloud, into one in the case that face part is covered by object
Whether the capped surface portion of step judgement generates substantive influence.If there is substantive influence, then laser should be judged
The outer surface of radar sensor is covered by object.
Step 14 is executed, laser radar sensor is cleaned, if the outer surface of laser radar sensor is covered by object, and
And the reflectivity of object belongs to range R.The range of the reflectivity of snow is 0.2-0.9, and the reflectivity that majority of case snows is higher than
0.4 (40%), and the reflectivity newly avenged more high energy reaches 0.7-0.9.The method of specific cleaning laser radar sensor includes adding
The outer surface of thermal laser radar sensor melts the snow of covering in a manner of heating, to remove covering.Alternatively, wiping
The outer surface of laser radar sensor.Since laser radar sensor outer surface is mostly flat glass, similar wiper can be used
Device, wipe the accumulated snow on the outer surface of laser radar sensor off.
Corresponding to the method for above-mentioned cleaning laser radar sensor, the present invention also provides a kind of cleaning laser radar sensings
The device of device, refers to Fig. 2, and Fig. 2 is the structural schematic diagram of the device of the cleaning laser radar sensor of the embodiment of the present invention.Institute
The device for stating cleaning laser radar sensor includes: sensing data acquisition device 21, for obtaining the biography of object from laser radar
Feel data, the sensing data includes the distance and reflectivity of the object；Preset value acquisition device 22, for obtaining preset value
D；Judgment means 23 judge that the outer surface of laser radar sensor is for the distance according to preset value D and the object of acquisition
It is no to be covered by object；Cleaning device 24, for cleaning laser radar sensor, if the outer surface of laser radar sensor is by object
Body covering, and the reflectivity of object belongs to range R.
In the present invention, judgment means 23 can be or may include any type of computing device, counting circuit or
Any type of processor or the processing circuit for being able to carry out series of instructions stored in memory.The judgment means can
It including multiple processors and/or multicore central processing unit (CPU) and may include any type of processor, such as micro process
Device, digital signal processor, microcontroller etc..The judgment means may also include memory, with storing data and/or program generation
Code, to execute series of instructions.Optionally, judgment means 23 can be or may include individual controller, be also possible to
A part of the central controller of vehicle.
In the present embodiment, the device of the cleaning laser radar sensor further includes that a heating device (does not show in figure
Out), the outer surface for heating laser radar sensor；Or a wiping arrangement (not shown), for wiping laser
The outer surface of radar sensor.
In the present embodiment, the device course of work of the cleaning laser radar sensor may refer to above-mentioned cleaning laser
The method of radar sensor carries out, and details are not described herein again.
The present invention also provides a kind of mobile lidar sensing systems comprising: memory is deposited in the memory
Contain computer executable instructions；Processor, the processor are configured as executing computer executable instructions；It is as described above clear
The device of clean laser radar sensor and at least one laser radar sensor；Wherein, the computer executable instructions are by institute
When stating processor execution, the device for cleaning laser radar sensor is made to execute each step of the method according to the invention.
The present invention also provides a kind of vehicles, including above-mentioned mobile lidar sensing system.
In addition, the storage medium has executable instruction the present invention relates to a kind of computer readable storage medium,
When executing described instruction, described instruction promotes computer to execute according to the method described in the present invention.
It is not limited to this place, the present invention can also relate to a kind of computer program product, load and execute on computers
Shi Yinqi method according to the present invention.
The feature disclosed in present specification not only can individually and also can mode in any combination for reality
Example is applied to be important and can be implemented for the realization in terms of different design schemes.
Although some aspects describe in association with device, it should be understood that are as follows: these aspects are also corresponding method
Illustrate, so that a module of device or a component are it can be appreciated that a corresponding method and step or method and step
A feature.Similarly, with a method and step or the aspect described in association as a method and step
It is the corresponding module of corresponding device or the explanation of details or feature.
In the present invention, memory may include but be not limited to disc driver, optical storage apparatus, solid-state memory, soft
Disk, floppy disc, hard disk, tape or any other magnetic medium, CD or any other optical medium, ROM (read-only storage
Device), RAM (random access memory), cache memory and/or any other memory chip or box and/or computer
Any other medium of data, instruction and/or code can be read from.Processor may include central processing unit (CPU=
Central Processing Unit), graphics processor (GPU=Graphics Processing Unit), dedicated integrated electricity
Road (ASIC=Application-Specific Integrated Circuit), integrated circuit (IC=Integrated
Circuit), system on chip (SOC=System on Chip), programmable logic element or the scene with microprocessor
Programmable gate array (FPGA=Field Programmable Gate Array).
Therefore, computer readable storage medium can be machine readable or computer-readable.Therefore, some implementations
Computer readable storage medium includes data medium in example, and the data medium has executable instruction, described executable
Instruction can be with programmable computer system or the such mating reaction of programmable hardware component, so that implementing to be described herein
One of method method.Therefore, a kind of embodiment is a kind of data medium, a kind of digital storage media or a kind of calculating
The readable storage medium of machine, record has the program for implementing a kind of method in method described herein on the data carrier.
The embodiment of the present invention generally can be used as program, firmware, computer program or the calculating with program code
Machine program product is realized as data, wherein when program is run on processor or programmable hardware component, institute
It states program code or data effectively implements the method.Program code or data for example also can store machine readable
Carrier or data medium on.Program code or data in addition can be used as source code, machine code or bytecode with
And exist as other intermediate codes.
In addition, another embodiment is data flow, signal sequence or signal sequence, the data flow, signal sequence or
Person's signal sequence is the program for implementing a kind of method in method described herein.Data flow, signal sequence or signal
Sequence for example may be configured to connect, via data communication for example via internet or other network transmissions.Therefore, implement
Example is also possible to represent the signal sequence of data, and the signal sequence is suitable for the hair connected via network or data communication
It send, wherein the data are programs.
In conclusion technical solution of the present invention at least has the advantages that
In bigger snowy day gas, especially when the outer surface of laser radar is covered by snow, the present invention passes through object
Whether Distance Judgment laser radar sensor outer surface be capped/blocks, while judging that the object is according to the reflectivity of object
No is snow.Common materials have different body surface reflectivity in nature, common are: trees 0.1%-0.18%, coal
4%-8% avenges 20%-90%, metal surface 130%-200%.Therefore, according to being covered on laser radar sensor outer surface
The reflectivity of object may infer that its type.Then, with it is judged that object type come decide whether trigger laser radar cleaning
Function.
If object is snow, it is automatically activated the function of cleaning laser radar sensor outer surface.Remove laser radar
After the snow deposit of sensor outer surface covering, the laser beam of laser radar transmitting is no longer disturbed, and laser radar can be at this time
Again perceive and create the point cloud of ambient enviroment.The data accuracy of sensor perception will significantly improve, to also improve certainly
The dynamic safety driven.Judge whether to need to clean laser radar sensor in addition, whole process does not need user, without with
Family operation, brings great convenience to user.
Although the invention has been described by way of example and in terms of the preferred embodiments, but it is not for limiting the present invention, any this field
Technical staff without departing from the spirit and scope of the present invention, may be by the methods and technical content of the disclosure above to this hair
Bright technical solution makes possible variation and modification, therefore, anything that does not depart from the technical scheme of the invention, and according to the present invention
Technical spirit any simple modifications, equivalents, and modifications to the above embodiments, belong to technical solution of the present invention
Protection scope.
Claims (13)
1. a kind of method for cleaning laser radar sensor, which is characterized in that the method includes the following steps:
The sensing data of (11) object is obtained from laser radar, the sensing data includes the distance and reflectivity of the object；
Obtain (12) preset value D；
According to the distance of preset value D and the object of acquisition, judge the outer surface of (13) laser radar sensor whether by object
Covering；
(14) laser radar sensor is cleaned, if the outer surface of laser radar sensor is covered by object, and object is anti-
The rate of penetrating belongs to range R.
2. the method for cleaning laser radar sensor as described in claim 1, which is characterized in that the range R of the reflectivity
It is 0.2 to 1.0.
3. the method for cleaning laser radar sensor as described in claim 1, which is characterized in that the range R of the reflectivity
It is 0.4 to 0.9.
4. the method for cleaning laser radar sensor as described in claim 1, which is characterized in that the range R of the reflectivity
It is 0.7 to 0.9.
5. the method for the cleaning laser radar sensor as described in one of Claims 1-4, which is characterized in that step " cleaning
(14) laser radar sensor, if the outer surface of laser radar sensor is covered by object, and the reflectivity of object belongs to model
Enclose the outer surface that R " includes: heating laser radar sensor；Or the outer surface of wiping laser radar sensor.
6. a kind of device for cleaning laser radar sensor, which is characterized in that the device packet of the cleaning laser radar sensor
It includes:
Sensing data acquisition device (21), for obtaining the sensing data of object from laser radar, the sensing data includes institute
State the distance and reflectivity of object；
Preset value acquisition device (22), for obtaining preset value D；
Judgment means (23) judge the appearance of laser radar sensor for the distance according to preset value D and the object of acquisition
Whether face is covered by object；
Cleaning device (24), for cleaning laser radar sensor, if the outer surface of laser radar sensor is covered by object,
And the reflectivity of object belongs to range R.
7. the device of cleaning laser radar sensor as claimed in claim 6, which is characterized in that the range R of the reflectivity
It is 0.2 to 1.0.
8. the device of cleaning laser radar sensor as claimed in claim 6, which is characterized in that the range R of the reflectivity
It is 0.4 to 0.9.
9. the device of cleaning laser radar sensor as claimed in claim 6, which is characterized in that the range R of the reflectivity
It is 0.7 to 0.9.
10. the device of the cleaning laser radar sensor as described in one of claim 6 to 9, which is characterized in that cleaning device
It (24) include: heating device, the outer surface for heating laser radar sensor；Or wiping arrangement, for wiping laser thunder
Up to the outer surface of sensor.
11. a kind of mobile lidar sensing system, which is characterized in that the mobile lidar sensing system includes:
Memory is stored with computer executable instructions in the memory；Processor, which is configured as execution computer can
It executes instruction；The device and at least one laser of cleaning laser radar sensor as described in claim 6 to 10 any one
Radar sensor；Wherein, when the computer executable instructions are executed by the processor, make to clean laser radar sensor
Device executes each step according to method described in one of claim 1 to 5.
12. a kind of vehicle, which is characterized in that the vehicle includes mobile lidar sensor as claimed in claim 11 system
System.
13. a kind of computer readable storage medium, the storage medium has executable instruction, when executing described instruction,
Described instruction promotes computer to execute method according to claim 1 to 5.
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| CN201711419259.XA CN109955829B (en) | 2017-12-25 | 2017-12-25 | Method and device for cleaning laser radar sensor |
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| CN201711419259.XA CN109955829B (en) | 2017-12-25 | 2017-12-25 | Method and device for cleaning laser radar sensor |
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| CN110841996A (en) * | 2019-12-17 | 2020-02-28 | 北京万集科技股份有限公司 | Cleaning device, method, equipment and storage medium for lidar |
| CN112394425A (en) * | 2020-12-02 | 2021-02-23 | 北京华益瑞科技有限公司 | Snow depth detection instrument and detection method |
| CN112918434A (en) * | 2019-12-06 | 2021-06-08 | 现代自动车株式会社 | Vehicle and control method thereof |
| WO2021169717A1 (en) * | 2020-02-25 | 2021-09-02 | 华为技术有限公司 | Radar shielding object detection method and apparatus |
| WO2022179207A1 (en) * | 2021-02-26 | 2022-09-01 | 华为技术有限公司 | Window occlusion detection method and apparatus |
| WO2023279268A1 (en) * | 2021-07-07 | 2023-01-12 | 华为技术有限公司 | Sensor detection method, sensor detection apparatus, and vehicle |
| CN116047540A (en) * | 2023-02-07 | 2023-05-02 | 湖南大学无锡智能控制研究院 | Laser radar self-shielding judging method and device based on point cloud intensity information |
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| CN116047540B (en) * | 2023-02-07 | 2024-03-22 | 湖南大学无锡智能控制研究院 | Laser radar self-shielding judging method and device based on point cloud intensity information |
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