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US 11,768,293 B2Granted
Method and device for adjusting parameters of LiDAR, and LiDAR
AssigneeSuteng Innovation Technology Co., Ltd.
InventorXiangguang Chen
Life of this patent
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Abstract
An embodiment of the present application relates to the field of radar technology, and discloses a method and a device for adjusting parameters of LiDAR, and a LiDAR. The method includes: acquiring 3D environment information around the LiDAR; identifying a scenario type where the LiDAR is positioned and a drivable area based on the 3D environment information; determining a parameter adjusting strategy of the LiDAR based on the scenario type and the drivable area; and adjusting current operating parameters of the LiDAR based on the parameter adjusting strategy.
Claims6
A method for adjusting parameters of a LiDAR, comprising:
- acquiring 3D environment information around the LiDAR;
- identifying a scenario type where the LiDAR is positioned and a drivable area based on the 3D environment information;
- and
- according to the scenario type, determining a scenario parameter adjusting strategy of one or more of a horizontal angle of field of view of the LiDAR, a vertical angle of field of view of the LiDAR, a direction of an optical axis of an emitting laser beam of the LiDAR, a scanning density of the LiDAR, a scanning frequency of the LiDAR, and a pulse emitting power of the LiDAR;
- and
- according to the drivable area, adjusting the scenario parameter adjusting strategy, determining the adjusted scenario parameter adjusting strategy as a parameter adjusting strategy of the LiDAR, and adjusting the current operating parameters of the LiDAR based on the parameter adjusting strategy,
- wherein adjusting the scenario parameter adjusting strategy according to the drivable area, determining the adjusted scenario parameter adjusting strategy as the parameter adjusting strategy of the LiDAR, and adjusting the current operating parameters of the LiDAR based on the parameter adjusting strategy specifically comprise:
- according to the scenario type, acquiring a standard driving area in the scenario type and driving parameter adjusting strategies of the horizontal angle of field of view of the LiDAR and the vertical angle of field of view of the LiDAR that correspond to the standard driving area;
- matching the drivable area with the standard driving area, and readjusting the scenario parameter adjusting strategy according to matching results and the driving parameter adjusting strategy;
- and
- adjusting the current operating parameters of the LiDAR based on the adjusted scenario parameter adjusting strategy,
- wherein matching the drivable area with the standard driving area, and readjusting the scenario parameter adjusting strategy according to the matching results and the driving parameter adjusting strategy comprise:
- analyzing a topological structure of the drivable area and a topological structure of the standard driving area;
- calculating a topological correlation between the topological structure of the drivable area and the topological structure of the standard driving area;
- determining a scenario difference coefficient of the drivable area relative to the standard driving area according to the topological correlation;
- and
- adjusting the scenario parameter adjusting strategy according to the scenario difference coefficient and the driving parameter adjusting strategy.
14 more elements
A device for adjusting parameters of a LiDAR, comprising:
- an environmental information acquisition module, configured to acquire 3D environmental information around the LiDAR;
- an identification module, configured to identify a scenario type where the LiDAR is positioned and a drivable area based on the 3D environment information;
- and
- an adjusting module, configured to determine a scenario parameter adjusting strategy of one or more of a horizontal angle of field of view of the LiDAR according to the scenario type, a vertical angle of field of view of the LiDAR, a direction of an optical axis of an emitting laser beam of the LiDAR, a scanning density of the LiDAR, a scanning frequency of the LiDAR, and a pulse emitting power of the LiDAR;
- and
- adjusting the scenario parameter adjusting strategy, determining the adjusted scenario parameter adjusting strategy as a parameter adjusting strategy of the LiDAR according to the drivable area, and to adjust the current operating parameters of the LiDAR based on the parameter adjusting strategy,
- wherein the adjusting module is configured to:
- according to the scenario type, acquiring a standard driving area in the scenario type and driving parameter adjusting strategies of the horizontal angle of field of view of the LiDAR and the vertical angle of field of view of the LiDAR that correspond to the standard driving area;
- matching the drivable area with the standard driving area, and readjusting the scenario parameter adjusting strategy according to matching results and the driving parameter adjusting strategy;
- and
- adjusting the current operating parameters of the LiDAR based on the adjusted scenario parameter adjusting strategy,
- wherein matching the drivable area with the standard driving area, and readjusting the scenario parameter adjusting strategy according to the matching results and the driving parameter adjusting strategy comprise:
- analyzing a topological structure of the drivable area and a topological structure of the standard driving area;
- calculating a topological correlation between the topological structure of the drivable area and the topological structure of the standard driving area;
- determining a scenario difference coefficient of the drivable area relative to the standard driving area according to the topological correlation;
- and
- adjusting the scenario parameter adjusting strategy according to the scenario difference coefficient and the driving parameter adjusting strategy.
14 more elements
Dependencies are inferred from the claim text.