CN113492760B - Automobile sensor protection method, electronic equipment and automobile - Google Patents
Automobile sensor protection method, electronic equipment and automobile Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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Abstract
The application discloses an automobile sensor protection method, electronic equipment and an automobile. The automobile sensor protection method comprises the following steps: detecting outline projection of the obstacle on the vehicle body when the position of the obstacle is detected to meet the collision condition; and if the contour projection of the obstacle on the vehicle body is at least partially overlapped with the protection area of the sensor, controlling an actuating mechanism of the sensor to execute the protection operation. According to the method, the protection of the sensor is executed only when the outline projection of the obstacle on the vehicle body overlaps with the protection area of the sensor, so that the damage probability of the high-value sensor is reduced in collision on one hand, the sensor cannot be damaged in high probability on the other hand, the actuating mechanism is not triggered, and the invalid behavior of the actuating mechanism is reduced. The after-market maintenance cost is reduced, the crashworthiness and maintenance economy index are improved, and more reasonable and transparent automobile consumption environment is promoted through technological improvement.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to an automobile sensor protection method, electronic equipment and an automobile.
Background
With the continuous progress of technology, intelligent driving technology is increasingly widely applied and mature, and important components in the intelligent driving auxiliary system are front and rear external sensors, such as ultrasonic radars, expensive millimeter wave radars, laser radars and the like. The main stream arrangement scheme of the existing vehicle exterior sensor, such as radar, is arranged on the front and rear bumper skins by combining the elements of detection angle, penetrating medium requirement, arrangement space and the like. Such as ultrasonic radar, blind area monitoring radar, millimeter wave radar, laser radar, etc., the sensor is basically directly exposed outside the vehicle body without any protective measures. The millimeter wave radar and the laser radar are high in price, and even if slight scraping and collision occur, the millimeter wave radar and the laser radar are basically treated by adopting replacement measures, so that the maintenance cost is extremely high.
The bumper with the protection function of the front end and the rear end of the vehicle body is extremely easy to scratch and collide with the rear end in low-speed running of the urban traffic road, so that the radar damage rate is extremely high, and the consumer needs to bear expensive replacement and maintenance cost in the after-market.
Disclosure of Invention
Based on the above, it is necessary to provide an automobile sensor protection method, an electronic device and an automobile, aiming at the technical problem that the sensor protection is insufficient in the prior art.
The application provides an automobile sensor protection method, which comprises the following steps:
detecting outline projection of the obstacle on the vehicle body when the position of the obstacle is detected to meet the collision condition;
and if the contour projection of the obstacle on the vehicle body is at least partially overlapped with the protection area of the sensor, controlling an actuating mechanism of the sensor to execute the protection operation.
Further, the sensor protection area covers a projection area of the sensor on the vehicle body.
Furthermore, the two boundary points with the greatest distance in the first direction of the sensor protection area are a first area boundary point and a second area boundary point, the two boundary points with the greatest distance in the first direction of the sensor back are a first sensor boundary point and a second sensor boundary point, the projection of the first sensor boundary point on the vehicle body is a first projection point, the projection of the second sensor boundary point on the vehicle body is a second projection point, the first boundary line passes through the first area boundary point and the first sensor boundary point, the second boundary line passes through the second area boundary point and the second sensor boundary point, the first reference line passes through the first sensor boundary point and the first projection point, the second reference line passes through the second sensor boundary point and the second projection point, the first boundary line has a first included angle with the first reference line, and the second boundary line has a second included angle with the second reference line.
Still further, the first direction is perpendicular to the detection direction of the sensor.
Still further, the first direction is a vehicle body length direction or a vehicle body width direction.
Further, when the detected position of the obstacle meets the collision condition, detecting the contour projection of the obstacle on the vehicle body specifically includes:
when the position of the obstacle is detected to meet the collision condition, acquiring the current vehicle speed;
if the current speed is less than or equal to the preset speed threshold, detecting outline projection of the obstacle on the vehicle body
Still further, the controlling the actuator of the sensor to perform a protection operation specifically includes:
selecting protection operation according to the current vehicle speed and/or the superposition degree of the outline projection of the obstacle on the vehicle body and the sensor protection area;
and controlling an actuator of the sensor to execute the selected protection operation.
Still further, the protecting operation is: the sensor is controlled to retract in a direction away from the outer surface of the vehicle body, and the executing mechanism for controlling the sensor executes protection operation, and the method specifically comprises the following steps:
determining a yielding distance of the sensor according to the current vehicle speed and/or the superposition degree of the contour projection of the obstacle on the vehicle body and the sensor protection area;
and controlling an actuating mechanism of the sensor to drive the sensor to retract the retract distance in a direction away from the outer surface of the vehicle body.
The application provides an electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to at least one of the processors; wherein,,
the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the method of automotive sensor protection as previously described.
The application provides an automobile, which comprises a sensor, an actuating mechanism and the electronic equipment, wherein the sensor is driven by the actuating mechanism, and the electronic equipment is in communication connection with the actuating mechanism.
According to the method, the protection of the sensor is executed only when the outline projection of the obstacle on the vehicle body overlaps with the protection area of the sensor, so that the damage probability of the high-value sensor is reduced in collision on one hand, the sensor cannot be damaged in high probability on the other hand, the actuating mechanism is not triggered, and the invalid behavior of the actuating mechanism is reduced. The after-market maintenance cost is reduced, the crashworthiness and maintenance economy index are improved, and more reasonable and transparent automobile consumption environment is promoted through technological improvement.
Drawings
FIG. 1 is a workflow diagram of an automotive sensor protection method of the present application;
FIG. 2 is a system schematic diagram of a system for implementing the method for protecting automotive sensors of the present application;
FIG. 3 is a flowchart illustrating an exemplary method for protecting an automotive sensor according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a sensor protection area;
FIG. 5 is a schematic illustration of an actuator not triggering in accordance with an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating actuator triggering according to an embodiment of the present application;
FIG. 7 is a flowchart illustrating a method for protecting an automotive sensor according to yet another embodiment of the present application;
fig. 8 is a schematic diagram of a hardware structure of an electronic device according to the present application;
fig. 9 is a schematic structural diagram of an actuator according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the attached drawings and specific examples.
As shown in fig. 1, a workflow diagram of an automobile sensor protection method of the present application includes:
step S101, detecting outline projection of an obstacle on a vehicle body when the position of the obstacle is detected to meet a collision condition;
and step S102, if the projection of the outline of the obstacle on the vehicle body is at least partially overlapped with the protection area of the sensor, controlling an executing mechanism of the sensor to execute the protection operation.
In particular, the present application may be applied to an electronic controller unit (Electronic Control Unit, ECU) of a vehicle. For example, on a separate electronic control unit, but also on other electronic control units, such as a central controller of an advanced driving assistance system (Advanced Driver Assistance System, ADAS).
As shown in fig. 2, which is a schematic diagram of a system for implementing the protection method of the automobile sensor, the external environment state and the obstacle information of the automobile are obtained through various sensors 21 outside the automobile, wherein the sensors outside the automobile include a ranging sensor which can be an ultrasonic radar, a millimeter wave radar or a laser radar, an image acquisition sensor which can be a camera, an infrared camera or the like, and the combination of the sensors can be selected according to the configuration requirement. The outside sensor 21 transmits the distance, the relative movement speed, and the position information of the obstacle to the central control module 22, and the central control module 22 performs processing, analysis, and judgment according to the received information. When it is detected that the obstacle position satisfies the collision condition, step S101 is triggered, and the contour projection of the obstacle on the vehicle body is detected. The projection of the outline of the obstacle on the vehicle body, namely the projection of the outline of the position of the obstacle, can be used for acquiring obstacle information by a camera, and analyzing the coincidence ratio of the obstacle with the protected sensor area by combining the position judgment of the radar and the calculation of the central processing. When the projection of the outline of the obstacle on the vehicle body at least partially coincides with the sensor protection area, step S102 is triggered to perform a protection operation to the actuator 23. The actuator 23 executes the relevant instructions in response to a signal input from the central control module 22.
The sensor to be protected is selected by each manufacturer as required. The sensor comprises but is not limited to an ultrasonic radar, a millimeter wave radar or a laser radar equidistant sensor, and the sensor can also be an image acquisition sensor such as a camera, an infrared camera and the like.
According to the method, the protection of the sensor is executed only when the outline projection of the obstacle on the vehicle body overlaps with the protection area of the sensor, so that the damage probability of the high-value sensor is reduced in collision on one hand, the sensor cannot be damaged in high probability on the other hand, the actuating mechanism is not triggered, and the invalid behavior of the actuating mechanism is reduced. The after-market maintenance cost is reduced, the crashworthiness and maintenance economy index are improved, and more reasonable and transparent automobile consumption environment is promoted through technological improvement.
Fig. 3 is a flowchart of an automotive sensor protection method according to an embodiment of the present application, including:
step S301, when the position of the obstacle is detected to meet the collision condition, acquiring the current vehicle speed;
step S302, if the current vehicle speed is less than or equal to a preset speed threshold, detecting outline projection of the obstacle on the vehicle body;
step S303, if the contour projection is at least partially coincident with the sensor protection area, executing step S304;
the sensor protection area covers a projection area of the sensor on a vehicle body;
the two boundary points with the largest distance in the first direction of the sensor protection area are a first area boundary point and a second area boundary point, the two boundary points with the largest distance in the first direction of the sensor back are a first sensor boundary point and a second sensor boundary point, the projection of the first sensor boundary point on the vehicle body is a first projection point, the projection of the second sensor boundary point on the vehicle body is a second projection point, the first boundary line passes through the first area boundary point and the first sensor boundary point, the second boundary line passes through the second area boundary point and the second sensor boundary point, the first reference line passes through the first sensor boundary point and the first projection point, the second reference line passes through the second sensor boundary point and the second projection point, the first edge has a first included angle with the first reference line, the second boundary line has a second included angle with the second reference line, and the first direction is perpendicular to the detection direction of the sensor.
In one embodiment, the first direction is a vehicle body length direction or a vehicle body width direction.
Step S304, selecting protection operation according to the current vehicle speed and/or the superposition degree of the outline projection of the obstacle on the vehicle body and the sensor protection area;
step S305, controlling the actuator of the sensor to execute the selected protection operation.
In one embodiment, the protecting operation is: the sensor is controlled to retract in a direction away from the outer surface of the vehicle body, and the executing mechanism for controlling the sensor executes protection operation, and the method specifically comprises the following steps:
determining a yielding distance of the sensor according to the current vehicle speed and/or the superposition degree of the contour projection of the obstacle on the vehicle body and the sensor protection area;
and controlling an actuating mechanism of the sensor to drive the sensor to retract the retract distance in a direction away from the outer surface of the vehicle body.
Specifically, as shown in fig. 2, the external environment state and the obstacle information of the vehicle are acquired by various external sensors 21 of the vehicle body, the external sensors include a ranging sensor which may be an ultrasonic radar, a millimeter wave radar or a laser radar, an image acquisition sensor which may be a camera, an infrared camera or the like, and a combination of sensors may be selected according to the configuration requirements. The outside sensor 21 transmits the distance, the relative movement speed, and the position information of the obstacle to the central control module 22, and the central control module 22 performs processing, analysis, and judgment according to the received information. When it is detected that the obstacle position satisfies the collision condition, step S301 is triggered to acquire the current vehicle speed.
The data statistics show that 75% of rear-end accidents occur at a speed of about 30km/h, so step S302 of the present embodiment detects the current vehicle speed, and only if the current vehicle speed is less than or equal to the preset speed threshold, step S302 is executed to determine the contour projection of the obstacle on the vehicle body, thereby reducing ineffective calculation.
A schematic view of the sensor protection area is shown in fig. 4. The two boundary points of the sensor protection region 41 of the present embodiment, which have the largest distance in the first direction, are the first region boundary point 401 and the second region boundary point 402, and the first direction is the Y direction in the present embodiment.
The two boundary points with the largest distance in the first direction on the back of the sensor 42 are a first sensor boundary point 403 and a second sensor boundary point 404, the projection of the first sensor boundary point 403 on the vehicle body 43 is a first projection point 405, the projection of the second sensor boundary point 404 on the vehicle body 43 is a second projection point 406, the first boundary line S1 passes through the first area boundary point and the first sensor boundary point 403, the second boundary line S2 passes through the second area boundary point and the second sensor boundary point 404, the first reference line S3 passes through the first sensor boundary point 403 and the first projection point 405, the second reference line S4 passes through the second sensor boundary point 404 and the second projection point 406, the first boundary line S1 has a first included angle with the first reference line S3, the second boundary line S2 has a second included angle with the second reference line S4, and the first direction is perpendicular to the detection direction of the sensor 42. The detection direction of the sensor 42 is the X direction in the present embodiment. Wherein the first region boundary point 401 and the first sensor boundary point 403 are located on one side of the central axis of the sensor, and the second region boundary point 402 and the second sensor boundary point 404 are located on the other side of the central axis of the sensor.
The first and second angles are safety angles, preferably 10 °. The safety angle can be calibrated according to the self condition of the vehicle type.
The sensors may be mounted in front of, behind, sideways of, etc. the vehicle.
The first direction is a vehicle body width direction when the sensor is mounted directly in front of or directly behind the vehicle, and is a vehicle body length direction when the sensor is mounted laterally of the vehicle.
Taking the radar mounted on the front bumper as an example, in fig. 4, the vehicle body 43 is the outer contour of the front bumper, and the sensor 42 is the radar. The radar is detected in a direction toward the front of the vehicle body. The Y-direction boundary and the X-direction rear boundary of the radar assembly (comprising the mounting bracket) are used as intersection points, a 10-degree safety included angle range is formed, and the projection is projected on a front bumper area, namely a collision safety area. The safety angle can be calibrated according to the conditions of the vehicle type.
The step S304 is executed, and the protection operation may be selected according to the current vehicle speed and/or the degree of coincidence between the projection of the contour of the obstacle on the vehicle body and the protection area of the sensor. Finally, step S305 is executed to control the actuator 23 of the sensor to execute the selected protection operation.
The protection operation can be to control the sensor to give way to the direction of keeping away from the automobile body surface, drives the sensor and withdraws to the safe space, avoids the injury that the barrier striking brought. The retraction in a direction away from the outer surface of the vehicle body may be a retraction in a direction toward the inside of the vehicle body, for example, toward the passenger compartment. The safety space is a cavity reserved in the part where the sensor is installed, and the safety space is a cavity arranged in the front bumper by taking a radar installed on the front bumper as an example.
As shown in fig. 5, during low-speed driving, the relative positional relationship between the obstacle 51 and the vehicle body 52 satisfies the collision condition, but the obstacle projection does not overlap the sensor protection area, and the actuator is not triggered. The calibration principle of the condition is that the sensor does not collide with the front during low-speed driving, the sensor is not damaged in high probability, slight card release or displacement possibly exists, and the sensor is calibrated again in the after-market.
As shown in fig. 6, during low-speed driving, the relative positional relationship between the obstacle 61 and the vehicle body 62 satisfies the collision condition, the obstacle projection overlaps the sensor safety area, and the actuator is activated.
Specifically, the faster the vehicle speed, the larger the relief distance, and the smaller the vehicle speed, the smaller the relief distance. The greater the degree of overlap of the contour projection with the sensor protection area, the greater the relief distance, and the smaller the degree of overlap of the contour projection with the sensor protection area, the smaller the relief distance.
The embodiment protects the high-value sensor when collision occurs in the low-speed driving process, reduces the damage probability of the sensor, improves the crashworthiness and maintenance economy index, and reduces the maintenance cost of the after-market consumer of the automobile.
The sensor protection system protects the high-value sensor when collision occurs in the low-speed driving process, the sensor is retracted into the safety space when collision occurs, the damage probability of the sensor is reduced, the after-sale maintenance cost is further reduced, the crashworthiness and maintenance economy index are improved, and the maintenance cost of automobile after-market consumers is reduced.
Fig. 7 is a flowchart of a method for protecting an automotive sensor according to still another embodiment of the present application, where the sensor is a radar, and the method includes:
step S701, the outside sensor transmits the detected information of the obstacle, the relative moving speed and distance between the vehicle and the obstacle and the like to the central control module;
step S702, the central control module processes, analyzes and judges that the executing mechanism is not triggered when the vehicle speed is more than 30KM/h and the executing mechanism is judged to be out of the threshold value;
703, when the relative position meets the collision condition, triggering an executing mechanism if the vehicle speed is less than or equal to 30KM/h, the projection of the obstacle position profile coincides with the protected radar area and is within a 10-degree safety included angle threshold;
and step S704, if the relative position meets the collision condition, and the vehicle speed is less than or equal to 30KM/h, the projection of the obstacle position profile is not coincident with the protected radar area, or the relative position is beyond the 10-degree safety included angle threshold, the actuating mechanism is not triggered.
Specifically, the projection of the position profile of the obstacle is to collect obstacle information by a camera, combine the position judgment of the radar and the calculation of a central processing, and analyze the coincidence ratio of the obstacle with the protected sensor area. The logic and strategy aims at judging whether an obstacle collides with a sensor or not when the collision condition is met in the low-speed driving process, and providing a 10-degree safety included angle. If the two are not in collision, the actuating mechanism is not triggered.
As shown in fig. 5, during low-speed driving, the relative positional relationship between the obstacle 51 and the vehicle body 52 satisfies the collision condition, but the obstacle projection does not overlap the radar protection area, and the actuator is not triggered. The condition calibration principle is that the radar does not collide with the front when the vehicle is driven at a low speed, the radar is not damaged at a high probability, slight card release or displacement possibly exists, and the radar can be recalibrated in the after-market.
As shown in fig. 6, during low-speed driving, the relative positional relationship between the obstacle 61 and the vehicle body 62 satisfies the collision condition, the obstacle projection overlaps the radar safety area, and the actuator is activated.
In the embodiment, when collision occurs, the sensor, such as a radar, is retracted into the safety space, so that the damage probability of the sensor is reduced, and the after-sale maintenance cost is further reduced.
Fig. 8 is a schematic diagram of a hardware structure of an electronic device according to the present application, including:
at least one processor 801; the method comprises the steps of,
a memory 802 communicatively coupled to at least one of the processors 801; wherein,,
the memory 802 stores instructions executable by at least one of the processors to enable the at least one processor to perform the method of automotive sensor protection as previously described.
One processor 801 is illustrated in fig. 8.
The electronic device may be on an electronic controller unit (Electronic Control Unit, ECU) of the vehicle. May be a separate electronic control unit or may be integrated on other electronic control units, such as a central controller of an advanced driving assistance system (Advanced Driver Assistance System, ADAS). The electronic device may further include: an input device 803 and a display device 804.
The processor 801, the memory 802, the input device 803, and the display device 804 may be connected by a bus or other means, which is illustrated as a bus connection.
The memory 802 is used as a non-volatile computer readable storage medium, and may be used to store a non-volatile software program, a non-volatile computer executable program, and modules, such as program instructions/modules corresponding to the method for protecting an automobile sensor in the embodiment of the present application, for example, a method flow shown in fig. 1. The processor 801 executes various functional applications and data processing by running nonvolatile software programs, instructions, and modules stored in the memory 802, that is, implements the automobile sensor protection method in the above-described embodiment.
The input device 803 may receive input user clicks and generate signal inputs related to user settings and function controls of the automobile sensor protection method. The display 804 may include a display device such as a display screen.
The automobile sensor protection method of any of the method embodiments described above is performed when executed by the one or more processors 801, with the one or more modules stored in the memory 802.
According to the method, the protection of the sensor is executed only when the outline projection of the obstacle on the vehicle body overlaps with the protection area of the sensor, so that the damage probability of the high-value sensor is reduced in collision on one hand, the sensor cannot be damaged in high probability on the other hand, the actuating mechanism is not triggered, and the invalid behavior of the actuating mechanism is reduced. The after-market maintenance cost is reduced, the crashworthiness and maintenance economy index are improved, and more reasonable and transparent automobile consumption environment is promoted through technological improvement.
An embodiment of the present application provides a storage medium storing computer instructions that, when executed by a computer, perform all the steps of an automotive sensor protection method as described above.
In an embodiment of the present application, an automobile includes a sensor, an actuator, and an electronic device as described above, where the sensor is driven by the actuator, and the electronic device is communicatively connected to the actuator.
Fig. 9 is a schematic structural diagram of an actuator according to an embodiment of the present application, where the actuator includes: the connecting plate 91 is used for connecting the sensor and the connecting rod 92, and can be an injection molding piece made of PP+glass fiber materials, wherein one end of the connecting plate is connected with the sensor, such as a radar, and the other end of the connecting plate is connected with the connecting rod 92, such as a hydraulic rod;
a driving device (not shown) may be provided on the front impact beam 93, to provide driving force to the connection rod 92, and to transmit the driving force to the connection plate 91 to complete the command. The driving mechanism is a mature product, and the difficulty in shape selection and design is small. The safety space can be designed and calibrated based on the arrangement requirement of the whole vehicle. The driving means may be hydraulic means and the connecting rod 92 may be a hydraulic rod. The drive means may also be an electric drive means and the connecting rod 92 may then be a drive rod of an electric motor.
The electronic device executes the aforementioned protection method for the automobile sensor, and when the threshold is triggered, the execution structure receives the signal input and then drives the sensor, such as a radar, to move from the first position a to the second position B, so as to retract to the safety space 94, thereby avoiding the injury caused by the collision of the obstacle.
The protection of the sensor is only executed when the contour projection of the obstacle on the vehicle body overlaps with the protection area of the sensor, so that the damage probability of the high-value sensor is reduced in the collision on one hand, the sensor is not damaged in the collision with high probability on the other hand, the actuating mechanism is not triggered, and the invalid behavior of the actuating mechanism is reduced. The after-market maintenance cost is reduced, the crashworthiness and maintenance economy index are improved, and more reasonable and transparent automobile consumption environment is promoted through technological improvement. Meanwhile, the novel sensor mounting structure and the actuating mechanism are matched, the universal design can be carried out on the same platform framework vehicle type, the design cost and the development cost of parts are saved, and the maximization of the income is achieved.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (8)
1. A method of protecting an automotive sensor, comprising:
detecting outline projection of the obstacle on the vehicle body when the position of the obstacle is detected to meet the collision condition;
if the contour projection of the obstacle on the vehicle body is at least partially overlapped with the protection area of the sensor, controlling an executing mechanism of the sensor to execute protection operation;
if the projection of the obstacle and the protection area of the sensor are not overlapped, the executing mechanism is not triggered;
the sensor protection area covers a projection area of the sensor on a vehicle body;
the sensor protection area is characterized in that two boundary points with the largest distance in the first direction are a first area boundary point and a second area boundary point, the two boundary points with the largest distance in the first direction on the back of the sensor are a first sensor boundary point and a second sensor boundary point, the projection of the first sensor boundary point on the car body is a first projection point, the projection of the second sensor boundary point on the car body is a second projection point, the first boundary line passes through the first area boundary point and the first sensor boundary point, the second boundary line passes through the second area boundary point and the second sensor boundary point, the first reference line passes through the first sensor boundary point and the first projection point, the second reference line passes through the second sensor boundary point and the second projection point, the first edge and the first reference line have a first included angle, the second boundary line and the second reference line have a second included angle, the first included angle and the second included angle are safety angles, and the safety angles are calibrated according to the self-vehicle type conditions.
2. The method for protecting an automotive sensor according to claim 1, characterized in that the first direction is perpendicular to the detection direction of the sensor.
3. The method of protecting an automotive sensor according to claim 2, wherein the first direction is a vehicle body length direction or a vehicle body width direction.
4. The method for protecting an automotive sensor according to claim 1, wherein when the position of the obstacle is detected to satisfy the collision condition, the projection of the contour of the obstacle on the vehicle body is detected, specifically comprising:
when the position of the obstacle is detected to meet the collision condition, acquiring the current vehicle speed;
and if the current vehicle speed is less than or equal to a preset speed threshold value, detecting outline projection of the obstacle on the vehicle body.
5. The method for protecting an automotive sensor according to any one of claims 1 to 4, characterized in that said controlling the actuator of said sensor to perform a protecting operation comprises:
selecting protection operation according to the current vehicle speed and/or the superposition degree of the outline projection of the obstacle on the vehicle body and the sensor protection area;
and controlling an actuator of the sensor to execute the selected protection operation.
6. The method of claim 5, wherein the protecting operation is: the sensor is controlled to retract in a direction away from the outer surface of the vehicle body, and the executing mechanism for controlling the sensor executes protection operation, and the method specifically comprises the following steps:
determining a yielding distance of the sensor according to the current vehicle speed and/or the superposition degree of the contour projection of the obstacle on the vehicle body and the sensor protection area;
and controlling an actuating mechanism of the sensor to drive the sensor to retract the retract distance in a direction away from the outer surface of the vehicle body.
7. An electronic device, comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to at least one of the processors; wherein,,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the method of protecting automotive sensors of any one of claims 1 to 6.
8. An automobile comprising a sensor, an actuator, and the electronic device of claim 7, wherein the sensor is driven by the actuator, and wherein the electronic device is communicatively coupled to the actuator.
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| CN115402246A (en) * | 2022-09-30 | 2022-11-29 | 重庆长安汽车股份有限公司 | Laser radar anti-collision protection method and device, electronic equipment and storage medium |
| CN116001712A (en) * | 2022-12-28 | 2023-04-25 | 北京百度网讯科技有限公司 | Sensor protection method, sensor protection system and self-driving vehicle |
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