CN111114463B - Method and device for acquiring blind area noise - Google Patents
Method and device for acquiring blind area noise Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for acquiring blind area noise, wherein the method comprises the following steps: acquiring theoretical acquisition areas of all sensors arranged on a vehicle; combining theoretical acquisition areas of all sensors to acquire theoretical acquisition blind area data of the vehicle; acquiring actual acquisition areas of sensors of a vehicle in actual road running; combining the actual acquisition areas of the sensors to acquire actual acquisition blind area data of the vehicle; and acquiring blind area noise data of the vehicle based on theoretical blind area data and actual blind area data acquired by the vehicle. The embodiment of the invention adopts the actual collected blind area data of the vehicle obtained in the actual road running process and combines the actual collected blind area data of the vehicle with the theoretical collected blind area data, so that the obtained noise data is more real and reliable.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method and a device for acquiring blind area noise.
Background
In the sensor system of the existing unmanned vehicle, a data acquisition blind area in a certain area exists. And under the condition of different vehicle parameters and different sensor installation positions, the range of the blind area and the influence caused by the blind area are different. Furthermore, as the unmanned vehicle needs to run on an actual road, the data acquisition blind area is obtained only through a theoretical value, and the data of the data acquisition blind area cannot be accurately reflected. However, it is not easy to add noise to the blind area by manual intervention, and noise data cannot be easily and accurately added by manual intervention because of the numerous reasons for noise formation and the difficulty in quantization.
The above information disclosed in the background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is known to a person of ordinary skill in the art.
Disclosure of Invention
The embodiment of the invention provides a method and a device for acquiring blind area noise, which aim to solve one or more technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a method for acquiring blind area noise, including:
acquiring theoretical acquisition areas of all sensors arranged on a vehicle;
combining theoretical acquisition areas of the sensors to acquire theoretical acquisition blind area data of the vehicle;
acquiring an actual acquisition area of each sensor in the actual road running of the vehicle;
combining actual acquisition areas of the sensors to acquire actual acquisition blind area data of the vehicle;
and acquiring blind area noise data of the vehicle based on theoretical blind area data and actual blind area data acquired by the vehicle.
In one embodiment, acquiring an actual acquisition area of each sensor during actual road driving of the vehicle includes:
acquiring position parameters and detection range parameters of each sensor of the vehicle in actual road running;
acquiring the appearance parameters of the vehicle;
and acquiring the actual acquisition area of each sensor according to the appearance parameters of the vehicle, and the position parameters and detection range parameters of each sensor.
In one embodiment, combining the actual acquisition regions of each of the sensors to obtain actual acquisition blind zone data of the vehicle comprises:
acquiring uncovered areas after the actual acquisition areas of the sensors in a preset vehicle detection area are combined, and taking the uncovered areas as actual acquisition blind areas of the vehicle;
cutting the actual acquisition area of each sensor forming the actual acquisition blind area according to the boundary range of the actual acquisition blind area by adopting a level set method;
acquiring a cut area on an actual acquisition area of each sensor;
and digitizing the cut areas and combining to form actual blind area acquisition data of the vehicle.
In one embodiment, acquiring blind zone noise data of the vehicle based on the theoretical collected blind zone data and the actual collected blind zone data of the vehicle comprises:
and combining the theoretical collected blind area data and the actual collected blind area data of the vehicle by adopting a Bayesian algorithm to calculate the blind area noise data of the vehicle.
In one embodiment, the combining the theoretical collection areas of each of the sensors to obtain the theoretical collection blind area data of the vehicle includes:
acquiring uncovered areas after theoretical acquisition areas of all the sensors in a preset vehicle detection area are combined, and taking the uncovered areas as theoretical acquisition blind areas of the vehicle;
cutting the theoretical acquisition area of each sensor forming the theoretical acquisition blind area according to the boundary range of the theoretical acquisition blind area by adopting a level set method;
acquiring a cut area on a theoretical acquisition area of each sensor;
and digitizing the cut areas and combining to form theoretical acquisition blind area data of the vehicle.
In a second aspect, an embodiment of the present invention provides an apparatus for acquiring blind area noise, including:
the first acquisition module is used for acquiring theoretical acquisition areas of all sensors arranged on the vehicle;
the theoretical data acquisition module is used for combining the theoretical acquisition regions of the sensors to acquire the theoretical acquisition blind area data of the vehicle;
the second acquisition module is used for acquiring the actual acquisition area of each sensor when the vehicle runs on an actual road;
the actual data acquisition module is used for combining the actual acquisition areas of the sensors to acquire actual acquisition blind area data of the vehicle;
and the noise data acquisition module is used for acquiring blind area noise data of the vehicle based on theoretical blind area data and actual blind area data acquired by the vehicle.
In one embodiment, the second obtaining module comprises:
the sensor parameter acquisition submodule is used for acquiring the position parameters and the detection range parameters of each sensor when the vehicle runs on an actual road;
the appearance parameter acquisition submodule is used for acquiring appearance parameters of the vehicle;
and the processing submodule is used for acquiring the actual acquisition area of each sensor according to the appearance parameters of the vehicle, the position parameters and the detection range parameters of each sensor.
In one embodiment, the actual data acquisition module comprises:
the actual acquisition blind area acquisition sub-module is used for acquiring an uncovered area after the actual acquisition areas of the sensors in a preset vehicle detection area are combined, and taking the uncovered area as the actual acquisition blind area of the vehicle;
the actual cutting sub-module is used for cutting the actual acquisition regions of the sensors forming the actual acquisition blind region according to the boundary range of the actual acquisition blind region by adopting a level set method;
the actual cutting area acquisition submodule is used for acquiring the cut area on the actual acquisition area of each sensor;
and the actual data sub-module is used for digitizing each cut area and combining the areas to form actual blind area data of the vehicle.
In one embodiment, the noise data acquisition module comprises:
and the calculation sub-module is used for combining the theoretical collected blind area data and the actual collected blind area data of the vehicle by adopting a Bayesian algorithm to calculate the blind area noise data of the vehicle.
In one embodiment, the theoretical data acquisition module comprises:
the theoretical acquisition blind area acquisition submodule is used for acquiring an uncovered area after the theoretical acquisition areas of the sensors in a preset vehicle detection area are combined, and taking the uncovered area as the theoretical acquisition blind area of the vehicle;
the theoretical cutting sub-module is used for cutting the theoretical acquisition area of each sensor forming the theoretical acquisition blind area according to the boundary range of the theoretical acquisition blind area by adopting a level set method;
the theoretical cutting area acquisition module is used for acquiring the cut area on the theoretical acquisition area of each sensor;
and the theoretical digitization submodule is used for digitizing each cut area and combining the areas to form theoretical collection blind area data of the vehicle.
In a third aspect, an embodiment of the present invention provides a terminal for acquiring blind area noise, including:
the functions can be realized by hardware, and the functions can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.
In one possible design, the structure of the terminal for acquiring the blind area noise includes a processor and a memory, the memory is used for storing a program for supporting the terminal for acquiring the blind area noise to execute the method for acquiring the blind area noise in the first aspect, and the processor is configured to execute the program stored in the memory. The terminal for acquiring the blind area noise may further include a communication interface, and the terminal for acquiring the blind area noise communicates with other devices or a communication network.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium for storing computer software instructions for a terminal for acquiring blind area noise, which includes a program for executing the method for acquiring blind area noise of the first aspect described above to acquire a terminal for acquiring blind area noise.
In a fifth aspect, embodiments of the present application provide a computer program product comprising computer programs/instructions which, when executed by a processor, implement the method as described above.
One of the above technical solutions has the following advantages or beneficial effects: because the actual collected blind area data of the vehicle obtained in the actual road running is adopted and the actual collected blind area data of the vehicle is combined with the theoretical collected blind area data, the obtained noise data is more real and reliable.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 is a flowchart of a method for acquiring blind area noise according to an embodiment of the present invention.
Fig. 2 is a detailed flowchart of step S300 of the method for acquiring blind area noise according to the embodiment of the present invention.
Fig. 3 is a flowchart illustrating the step S400 of the method for obtaining the blind area noise according to the embodiment of the present invention.
Fig. 4 is a detailed flowchart of step S200 of the method for obtaining blind area noise according to the embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a device for acquiring blind area noise according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a second obtaining module of the device for obtaining blind area noise according to the embodiment of the present invention.
Fig. 7 is a schematic structural diagram of an actual data acquisition module of the device for acquiring blind area noise according to the embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a theoretical data acquisition module of the device for acquiring blind area noise according to the embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a terminal for acquiring blind area noise according to an embodiment of the present invention.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
The embodiment of the invention provides a method for acquiring blind area noise, which comprises the following steps as shown in figure 1:
s100: and acquiring theoretical acquisition areas of all sensors arranged on the vehicle. The theoretical acquisition region is understood to mean the acquisition region of the sensors in space based on the vehicle after the sensors are mounted on the vehicle when the vehicle is at a standstill. It should be noted that the theoretical collection area of each sensor may include not only the area space that can be collected, but also a collection blind area that is hidden by the vehicle.
S200: and combining the theoretical acquisition areas of the sensors to acquire the theoretical acquisition blind area data of the vehicle. The theoretical acquisition blind area data is related data used for representing and forming the theoretical acquisition blind area. The theoretical acquisition blind zone can be understood as a spatial region around the vehicle which still exists after the theoretical acquisition regions of the sensors are combined.
S300: and acquiring the actual acquisition area of each sensor when the vehicle runs on the actual road. The actual collection area can be understood as a collection area of the sensor based on the vehicle in space under the influence of external environmental factors during the actual road driving process of the vehicle. It should be noted that the actual collection area of each sensor may include not only the area space that can be collected, but also a collection blind area that is blocked by the vehicle.
S400: and combining the actual acquisition areas of the sensors to acquire the actual acquisition blind area data of the vehicle. The actual acquisition blind area data is related data used for representing and forming an actual acquisition blind area. The actual acquisition blind zone can be understood as a spatial region which is still present around the vehicle after the actual acquisition regions of the sensors have been combined.
S500: and acquiring blind area noise data of the vehicle based on theoretical collected blind area data and actual collected blind area data of the vehicle. The blind zone noise data of the vehicle can be used to construct a noise model and a noise region. The noise area is a space area which is redundant or lacked relative to the theoretical acquisition area after the actual acquisition area and the theoretical acquisition area are overlapped. The influence of the noise data on the acquired blind area can be visually seen through the noise area obtained by combining the actual acquired blind area data and the theoretical acquired blind area data of the vehicle, and then key influence parameters can be searched from massive real noise data so as to increase the authenticity of the noise. The blind area noise data of the vehicle obtained by the embodiment of the invention has universality and can be used as a basic judgment item for judging whether the automatic driving vehicle has the road getting-on capability and the mass production capability. The noise model can be applied to any method needing acquiring blind areas and used as an auxiliary item for detecting the blind areas acquired by the sensors of vehicles of any model.
In one embodiment, acquiring the actual acquisition area of each sensor of the vehicle in actual road driving, as shown in fig. 2, includes:
s310: and acquiring the position parameters and the detection range parameters of each sensor of the vehicle in actual road running. The position parameters of the sensors can be understood as the specific positions at which the sensors are arranged on the vehicle and the corresponding position coordinates on the vehicle. The position coordinates can be established by taking the vehicle as a reference and also can be defined by a user. The detection range parameters of the sensor can be understood as the distance that can be detected by the sensor, the size of the detection region, the shape of the detection region, etc.
S320: and acquiring the appearance parameters of the vehicle. The external form parameters of the vehicle can be understood as the design shape of the outer shell of the vehicle, the overall structural size of the vehicle and the like.
S330: and acquiring the actual acquisition area of each sensor according to the appearance parameters of the vehicle, the position parameters and the detection range parameters of each sensor.
In an embodiment, the process of acquiring the theoretical acquisition regions of the sensors disposed on the vehicle is substantially the same as the step of acquiring the actual acquisition regions in the above embodiment, and therefore, the description thereof is omitted here. The difference is only that the position parameters and detection range parameters of the sensor are acquired in the theoretical acquisition area when the vehicle is stationary.
In one embodiment, combining the actual acquisition regions of the sensors to obtain the actual acquisition blind zone data of the vehicle, as shown in fig. 3, includes:
s410: and acquiring uncovered areas after the actual acquisition areas of the sensors in the preset vehicle detection area are combined, and taking the uncovered areas as the actual acquisition blind areas of the vehicles. The predetermined vehicle detection space is understood to be the region of the surrounding space that the vehicle needs to capture during travel. The preset vehicle detection space can be adjusted according to the safety levels and the vehicle models of different vehicles.
S420: and cutting the actual acquisition area of each sensor forming the actual acquisition blind area according to the boundary range of the actual acquisition blind area by adopting a level set method. The actual acquisition blind area can be understood as a spatial area surrounded by a plurality of planes, and each plane is a part of the actual acquisition area of the sensor forming the actual acquisition blind area. And cutting out the plane in the actual acquisition area corresponding to the sensor according to the shape of each plane of the actual acquisition blind area.
S430: and acquiring a cut area on the actual acquisition area of each sensor.
S440: and digitizing the cut areas and combining the areas to form the actual acquisition blind area data of the vehicle. The actual acquisition blind area data can represent the position, size and shape of the physical space area of the actual acquisition blind area. The actual acquisition blind area data also contains sensor information of each sensor forming the actual acquisition blind area, and the sensor information can be understood as information of which sensor each surface forming the actual acquisition blind area is formed by, corresponding position information of each surface forming the actual acquisition blind area on an actual acquisition area of a corresponding sensor, and the like. So as to be convenient for the subsequent verification based on the actual collected blind area data.
In one embodiment, before step S410, the method further comprises the steps of:
and acquiring the space geometric relation of the actual acquisition area of each sensor in the preset vehicle detection space based on the preset vehicle detection space.
And combining the actual acquisition regions of the sensors according to the space geometric relationship.
In one embodiment, acquiring blind zone noise data of a vehicle based on theoretical and actual acquired blind zone data of the vehicle comprises:
and (3) combining theoretical blind zone data and actual blind zone data collected by the vehicle by adopting a Bayesian algorithm to calculate the blind zone noise data of the vehicle. According to the obtained blind area noise data of the vehicle, the blind area noise data can be used as a reference value for adding noise in the theoretically collected blind area data. The calculated blind area noise data of the vehicle are subjected to parameter analysis and optimization, so that the noise reference value set in the theoretically collected blind area data of any vehicle is more real and accurate, and the use of a follow-up verification experiment is facilitated.
In one embodiment, the process of acquiring blind spot noise data of a vehicle may include:
searching a characteristic value in theoretical acquisition blind area data and a characteristic value in actual acquisition blind area data;
and analyzing and comparing the characteristic value in the theoretical collected blind area data with the characteristic value in the actual collected blind area data according to a Bayesian algorithm to obtain a key characteristic value, and converting the key characteristic value into blind area noise data.
In one embodiment, the combination of the theoretical collection areas of the sensors to obtain the theoretical collection blind area data of the vehicle, as shown in fig. 4, includes:
s210: and acquiring the uncovered area after the combination of the theoretical acquisition areas of the sensors in the preset vehicle detection area, and taking the uncovered area as the theoretical acquisition blind area of the vehicle.
S220: and cutting the theoretical acquisition area of each sensor forming the theoretical acquisition blind area according to the boundary range of the theoretical acquisition blind area by adopting a level set method. The theoretical acquisition blind area can be understood as a spatial area surrounded by a plurality of planes, and each plane is a part of the theoretical acquisition area of the sensor forming the theoretical acquisition blind area. And cutting out the plane in the theoretical acquisition area corresponding to the sensor according to the shape of each plane of the theoretical acquisition blind area.
S230: and acquiring a cut area on the theoretical acquisition area of each sensor.
S240: and digitizing the cut areas and combining the areas to form theoretical acquisition blind area data of the vehicle. The theoretical acquisition blind area data can represent the position, size and shape of a physical space area of the theoretical acquisition blind area. The theoretical acquisition blind area data also contains sensor information of each sensor forming the theoretical acquisition blind area, and the sensor information can be understood as information of which sensor each surface forming the theoretical acquisition blind area is formed by, corresponding position information of each surface forming the theoretical acquisition blind area on a theoretical acquisition area of a corresponding sensor, and the like.
The embodiment of the invention provides a device for acquiring blind area noise, which comprises the following steps as shown in figure 5:
the first acquisition module 10 is used for acquiring theoretical acquisition areas of various sensors arranged on the vehicle.
And the theoretical data acquisition module 20 is used for combining the theoretical acquisition areas of the sensors to acquire the theoretical acquisition blind area data of the vehicle.
And the second acquiring module 30 is used for acquiring the actual acquisition area of each sensor when the vehicle runs on an actual road.
And the actual data acquisition module 40 is used for combining the actual acquisition areas of the sensors to acquire the actual acquisition blind area data of the vehicle.
The noise data acquisition module 50 is configured to acquire blind area noise data of the vehicle based on the theoretical acquired blind area data and the actual acquired blind area data of the vehicle.
In one embodiment, as shown in fig. 6, the second obtaining module 30 includes:
and the sensor parameter acquisition submodule 31 is used for acquiring the position parameters and the detection range parameters of each sensor when the vehicle runs on an actual road.
The shape parameter obtaining submodule 32 is configured to obtain a shape parameter of the vehicle.
And the processing submodule 33 is used for acquiring the actual acquisition area of each sensor according to the appearance parameters of the vehicle, the position parameters and the detection range parameters of each sensor.
In one embodiment, as shown in fig. 7, the actual data acquisition module 40 includes:
and the actual acquisition blind area acquisition sub-module 41 is configured to acquire an uncovered area after the actual acquisition areas of the sensors in the preset vehicle detection area are combined, and use the uncovered area as an actual acquisition blind area of the vehicle.
And the actual cutting sub-module 42 is used for cutting the actual acquisition regions of the sensors forming the actual acquisition blind regions according to the boundary range of the actual acquisition blind regions by adopting a level set method.
An actual trimming area acquisition sub-module 43 for acquiring the area to be trimmed on the actual acquisition area of each sensor.
And the actual data sub-module 44 is used for digitizing the cut areas and combining the areas to form the actual blind area data of the vehicle.
In one embodiment, the noise data acquisition module comprises:
and the calculation submodule is used for combining the theoretical collected blind area data and the actual collected blind area data of the vehicle by adopting a Bayesian algorithm to calculate the blind area noise data of the vehicle.
In one embodiment, as shown in fig. 8, the theoretical data acquisition module 20 includes:
and the theoretical collecting blind area obtaining submodule 21 is used for obtaining the uncovered area after the theoretical collecting areas of the sensors in the preset vehicle detecting area are combined, and taking the uncovered area as the theoretical collecting blind area of the vehicle.
And the theoretical cutting submodule 22 is used for cutting the theoretical acquisition area of each sensor forming the theoretical acquisition blind area according to the boundary range of the theoretical acquisition blind area by adopting a level set method.
The theoretical trimming area acquisition module 23 acquires the trimmed area on the theoretical acquisition area of each sensor.
And the theoretical digitization submodule 24 is used for digitizing all the cut areas and combining the cut areas to form the theoretical collection blind area data of the vehicle.
An embodiment of the present invention provides a terminal for acquiring blind area noise, as shown in fig. 9, including:
a memory 910 and a processor 920, the memory 910 having stored therein computer programs operable on the processor 920. The processor 920 implements the method of acquiring blind spot noise in the above embodiments when executing the computer program. The number of the memory 910 and the processor 920 may be one or more.
A communication interface 930 for the memory 910 and the processor 920 to communicate with the outside.
If the memory 910, the processor 920 and the communication interface 930 are implemented independently, the memory 910, the processor 920 and the communication interface 930 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 9, but this does not indicate only one bus or one type of bus.
Optionally, in an implementation, if the memory 910, the processor 920 and the communication interface 930 are integrated on a chip, the memory 910, the processor 920 and the communication interface 930 may complete communication with each other through an internal interface.
The embodiment of the invention provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement any of the method for acquiring blind area noise according to the first embodiment.
Embodiments of the present invention provide a computer program product, including a computer program, which, when executed by a processor, implements the method according to any of the above embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method of obtaining blind spot noise, comprising:
acquiring a theoretical acquisition area of each sensor arranged on a vehicle, wherein the theoretical acquisition area is an acquisition area of each sensor based on the vehicle in space when the vehicle is in a static state;
combining the theoretical acquisition areas of the sensors to acquire theoretical acquisition blind area data of the vehicle;
acquiring an actual acquisition area of each sensor when the vehicle runs on an actual road;
combining the actual acquisition areas of the sensors to acquire actual acquisition blind area data of the vehicle;
combining theoretical blind zone data collected by the vehicle with actual blind zone data collected by the vehicle by adopting a Bayesian algorithm to calculate blind zone noise data of the vehicle;
the blind area noise data of the vehicle is used for constructing a noise model and a noise area, and the noise area is a redundant or deficient space area relative to the theoretical acquisition area after the actual acquisition area and the theoretical acquisition area are overlapped;
the blind area noise data of the vehicle is used as a basic judgment item for judging whether the automatic driving vehicle has the ability of getting on the road and the capacity of mass production, and the noise model is applied to any method needing to acquire the blind area and is used as an auxiliary item for detecting the blind area acquired by the sensor of the vehicle of any model.
2. The method of claim 1, wherein acquiring an actual acquisition area of each of the sensors during actual road travel of the vehicle comprises:
acquiring position parameters and detection range parameters of each sensor of the vehicle in actual road running;
acquiring the appearance parameters of the vehicle;
and acquiring the actual acquisition area of each sensor according to the appearance parameters of the vehicle, the position parameters and the detection range parameters of each sensor.
3. The method of claim 1, wherein combining the actual acquisition zones of each of the sensors to obtain actual acquisition blind zone data for the vehicle comprises:
acquiring uncovered areas after the actual acquisition areas of the sensors in a preset vehicle detection area are combined, and taking the uncovered areas as actual acquisition blind areas of the vehicles;
cutting the actual acquisition area of each sensor forming the actual acquisition blind area according to the boundary range of the actual acquisition blind area by adopting a level set method;
acquiring a cut area on an actual acquisition area of each sensor;
and digitizing the cut areas and combining to form actual blind area acquisition data of the vehicle.
4. The method of claim 1, wherein combining the theoretical acquisition zones for each of the sensors to obtain theoretical acquisition blind zone data for the vehicle comprises:
acquiring uncovered areas after theoretical acquisition areas of all the sensors in a preset vehicle detection area are combined, and taking the uncovered areas as theoretical acquisition blind areas of the vehicle;
cutting the theoretical acquisition area of each sensor forming the theoretical acquisition blind area according to the boundary range of the theoretical acquisition blind area by adopting a level set method;
acquiring a cut area on a theoretical acquisition area of each sensor;
and digitizing the cut areas and combining to form theoretical acquisition blind area data of the vehicle.
5. An apparatus for obtaining blind area noise, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring theoretical acquisition areas of all sensors arranged on a vehicle, and the theoretical acquisition areas are acquisition areas of all the sensors based on the vehicle in space when the vehicle is in a static state;
the theoretical data acquisition module is used for combining the theoretical acquisition regions of the sensors to acquire the theoretical acquisition blind area data of the vehicle;
the second acquisition module is used for acquiring the actual acquisition area of each sensor when the vehicle runs on an actual road;
the actual data acquisition module is used for combining the actual acquisition areas of the sensors to acquire actual acquisition blind area data of the vehicle;
the calculation submodule is used for combining theoretical collected blind area data of the vehicle and actual collected blind area data of the vehicle by adopting a Bayesian algorithm to calculate blind area noise data of the vehicle; the blind area noise data of the vehicle is used for constructing a noise model and a noise area, and the noise area is a redundant or deficient space area relative to the theoretical acquisition area after the actual acquisition area and the theoretical acquisition area are overlapped; the blind area noise data of the vehicle is used as a basic judgment item for judging whether the automatic driving vehicle has the ability of getting on the road and the capacity of mass production, and the noise model is applied to any method needing to acquire the blind area and is used as an auxiliary item for detecting the blind area acquired by the sensor of the vehicle of any model.
6. The apparatus of claim 5, wherein the second obtaining module comprises:
the sensor parameter acquisition submodule is used for acquiring the position parameters and the detection range parameters of each sensor when the vehicle runs on an actual road;
the appearance parameter acquisition submodule is used for acquiring appearance parameters of the vehicle;
and the processing submodule is used for acquiring the actual acquisition area of each sensor according to the appearance parameters of the vehicle, the position parameters and the detection range parameters of each sensor.
7. The apparatus of claim 5, wherein the actual data acquisition module comprises:
the actual acquisition blind area acquisition sub-module is used for acquiring an uncovered area after the actual acquisition areas of the sensors in a preset vehicle detection area are combined, and taking the uncovered area as the actual acquisition blind area of the vehicle;
the actual cutting sub-module is used for cutting the actual acquisition area of each sensor forming the actual acquisition blind area according to the boundary range of the actual acquisition blind area by adopting a level set method;
the actual cutting area acquisition submodule is used for acquiring the cut area on the actual acquisition area of each sensor;
and the actual data sub-module is used for digitizing each cut area and combining the areas to form actual blind area data of the vehicle.
8. The apparatus of claim 5, wherein the theoretical data acquisition module comprises:
the theoretical acquisition blind area acquisition submodule is used for acquiring an uncovered area after the theoretical acquisition areas of the sensors in a preset vehicle detection area are combined, and taking the uncovered area as the theoretical acquisition blind area of the vehicle;
the theoretical cutting sub-module is used for cutting the theoretical acquisition area of each sensor forming the theoretical acquisition blind area according to the boundary range of the theoretical acquisition blind area by adopting a level set method;
the theoretical cutting area acquisition module is used for acquiring the cut area on the theoretical acquisition area of each sensor;
and the theoretical digitization submodule is used for digitizing all the cut areas and combining the cut areas to form the theoretical acquisition blind area data of the vehicle.
9. A terminal for obtaining blind area noise, comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-4.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 4.
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