US 11,953,605 B2
Method, device, equipment, and storage medium for determining sensor solution
Chongchong Li, Beijing (CN); and Jun Wang, Beijing (CN)
Assigned to BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., (CN)
Filed by BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
Filed on Jan. 18, 2021, as Appl. No. 17/151,482.
Claims priority of application No. 202010066495.3 (CN), filed on Jan. 20, 2020.
Prior Publication US 2021/0190961 A1, Jun. 24, 2021
Int. Cl. G01S 17/931 (2020.01); G01S 17/89 (2020.01); G05D 1/00 (2006.01); G06F 30/15 (2020.01); G08G 1/01 (2006.01)
CPC G01S 17/931 (2020.01) [G01S 17/89 (2013.01); G05D 1/0248 (2013.01); G06F 30/15 (2020.01); G08G 1/0104 (2013.01); G05D 2201/0213 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method for determining a sensor solution, applied to terminal equipment, comprising:
establishing a simulated unmanned vehicle and a simulation scene, wherein the simulation scene is used for the simulated unmanned vehicle to perform simulation driving;
determining a first sensor solution according to a initialization parameter, and determining, according to the first sensor solution, simulation data generated by the simulated unmanned vehicle during the simulation driving in the simulation scene; and
determining a first perception parameter of the first sensor solution according to the simulation data, and correcting the first sensor solution according to the first perception parameter to obtain a sensor solution applied to an unmanned vehicle for operation of the unmanned vehicle;
wherein the simulation scene comprises a static simulation scene and a dynamic simulation scene, and the dynamic simulation scene comprises at least one dynamic sub-simulation scene; and the determining, according to the first sensor solution, the simulation data generated by the simulated unmanned vehicle during the simulation driving in the simulation scene comprises:
determining, according to the first sensor solution, a first sub-simulation data generated by the simulated unmanned vehicle during the simulation driving in the static simulation scene;
the determining the first perception parameter of the first sensor solution according to the simulation data, and correcting the first sensor solution according to the first perception parameter to obtain the sensor solution applied to the unmanned vehicle for the operation of the unmanned vehicle comprises:
determining the first perception parameter of the first sensor solution according to the first sub-simulation data, and correcting the first sensor solution according to the first perception parameter to obtain a second sensor solution;
determining, according to the second sensor solution, at least one second sub-simulation data generated by the simulated unmanned vehicle during the simulation driving in the at least one dynamic sub-simulation scene; and
determining a second perception parameter of the second sensor solution according to each second sub-simulation data of the at least one second sub-simulation data, correcting the second sensor solution according to the second perception parameter to obtain a third sensor solution, and using the third sensor solution as the sensor solution applied to the unmanned vehicle for the operation of the unmanned vehicle.