CN111337910A - Radar inspection method and device - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The application provides a radar inspection method and a device, wherein the radar inspection method comprises the following steps: acquiring data to be inspected collected by a radar to be inspected; the data to be detected is data obtained by acquiring a target to be detected by a radar to be detected at one time; verifying whether the data to be detected is reasonable; and when the data to be detected is reasonable, detecting whether the radar to be detected is qualified or not according to the data to be detected. In the field of unmanned vehicles and automatic driving, the laser radar technology is often applied, and in order to ensure the normal work of unmanned vehicles, the guarantee of the normal work of the laser radar is very important. Therefore, the radar to be detected can be used for carrying out data acquisition on a target to be detected at one time, and then when the data to be detected acquired by the radar to be detected is reasonable, the server can detect whether the radar to be detected is qualified according to the data to be detected, so that the identification of the laser radar whether qualified is realized, and the laser radar used can be guaranteed to work normally.
Description
Technical Field
The application relates to the field of radars, in particular to a radar inspection method and a radar inspection device.
Background
The laser radar is a radar system which emits laser beams to detect the position, speed and other characteristic quantities of a target, and the working principle of the radar system is that the detection laser beams are emitted to the target, then the received signals reflected from the target are compared with the emitted signals, and after appropriate processing, the relevant information of the target, such as the parameters of the target distance, the direction, the height, the speed, the attitude, even the shape and the like, can be obtained.
In the field of unmanned vehicles, the laser radar technology is often applied, and in order to ensure the normal work of the unmanned vehicles, the guarantee of the normal work of the laser radar is particularly important. In the prior art, the laser radar is mainly calibrated, but the inaccuracy of data caused by non-calibration can be only solved.
Disclosure of Invention
An object of the embodiments of the present application is to provide a radar inspection method and apparatus, so as to identify whether a laser radar is qualified, and avoid the problem of inaccurate data caused by using an unqualified laser radar.
In order to achieve the above purpose, the technical solutions provided in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a radar verification method, including: acquiring data to be inspected collected by a radar to be inspected; the data to be detected is data obtained by acquiring a target to be detected by the radar to be detected at one time; verifying whether the data to be detected is reasonable; and when the data to be detected is reasonable, detecting whether the radar to be detected is qualified or not according to the data to be detected. Therefore, the radar to be detected can be used for carrying out data acquisition on a target to be detected at one time, then when the data to be detected acquired by the radar to be detected is reasonable, the server can detect whether the radar to be detected is qualified according to the data to be detected, so that the identification of the laser radar whether qualified is realized, the laser radar used can be guaranteed to work normally, and the problem of inaccurate data caused by using unqualified laser radar is avoided.
In an optional embodiment of the present application, the verifying whether the data to be checked is reasonable includes: and judging whether the bit number of the data to be detected meets a preset bit number condition or not. Therefore, the digit of the qualified laser radar collected data should meet the preset digit condition, and when the data collected by the laser radar is not met the preset digit condition, the laser radar can be considered to be unqualified and cannot be normally used.
In an optional embodiment of the present application, said checking whether the radar to be checked is qualified according to the data to be checked includes: and judging whether the number, accuracy, precision, reflectivity deviation and/or recognition rate of the point clouds of the data to be detected meet preset conditions. Therefore, the number, accuracy, precision, reflectivity deviation and recognition rate of the point clouds of the qualified data collected by the laser radar all meet preset conditions, and the server can judge one or more conditions to determine whether each radar to be detected is qualified.
In an alternative embodiment of the present application, the target to be measured includes: a plurality of patterns for respectively judging whether the number of point clouds, the accuracy, the precision, the reflectance deviation, and/or the recognition rate satisfy the preset conditions. Therefore, the radar to be detected can acquire data of various patterns at one time, and different patterns can be used for judging whether the acquired data meet different preset conditions.
In an optional embodiment of the present application, when the data to be inspected cannot be acquired, the radar inspection method further includes: judging whether the current value of the radar to be detected meets a preset current condition or not; and/or judging whether the radar to be detected can respond to a control command. Therefore, the laser radar may have the data which cannot be collected in the inspection process, and the problems of the laser radar can be checked at the moment, so that the laser radar can be subjected to targeted processing.
In a second aspect, an embodiment of the present application provides a radar verification apparatus, including: the acquisition module is used for acquiring data to be inspected, which are acquired by the radar to be inspected; the data to be detected is data obtained by acquiring a target to be detected by the radar to be detected at one time; the verification module is used for verifying whether the data to be verified are reasonable or not; and the inspection module is used for inspecting whether the radar to be inspected is qualified or not according to the data to be inspected when the data to be inspected is reasonable. Therefore, the radar to be detected can be used for carrying out data acquisition on a target to be detected at one time, then when the data to be detected acquired by the radar to be detected is reasonable, the server can detect whether the radar to be detected is qualified according to the data to be detected, so that the identification of the laser radar whether qualified is realized, the laser radar used can be guaranteed to work normally, and the problem of inaccurate data caused by using unqualified laser radar is avoided.
In an optional embodiment of the present application, the verification module is further configured to: and judging whether the bit number of the data to be detected meets a preset bit number condition or not. Therefore, the digit of the qualified laser radar collected data should meet the preset digit condition, and when the data collected by the laser radar is not met the preset digit condition, the laser radar can be considered to be unqualified and cannot be normally used.
In an alternative embodiment of the present application, the verification module is further configured to: and judging whether the number, accuracy, precision, reflectivity deviation and/or recognition rate of the point clouds of the data to be detected meet preset conditions. Therefore, the number, accuracy, precision, reflectivity deviation and recognition rate of the point clouds of the qualified data collected by the laser radar all meet preset conditions, and the server can judge one or more conditions to determine whether each radar to be detected is qualified.
In an alternative embodiment of the present application, the target to be measured includes: a plurality of patterns for respectively judging whether the number of point clouds, the accuracy, the precision, the reflectance deviation, and/or the recognition rate satisfy the preset conditions. Therefore, the radar to be detected can acquire data of various patterns at one time, and different patterns can be used for judging whether the acquired data meet different preset conditions.
In an optional embodiment of the present application, when the data to be inspected cannot be acquired, the radar inspection apparatus further includes: the judging module is used for judging whether the current value of the radar to be detected meets a preset current condition or not; and/or judging whether the radar to be detected can respond to a control command. Therefore, the laser radar may have the data which cannot be collected in the inspection process, and the problems of the laser radar can be checked at the moment, so that the laser radar can be subjected to targeted processing.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory, and a bus; the processor and the memory are communicated with each other through the bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions capable of performing the radar verification method as in the first aspect.
In a fourth aspect, embodiments of the present application provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the radar verification method of the first aspect.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a block diagram of a radar inspection system according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a radar inspection method according to an embodiment of the present disclosure;
fig. 3 is a block diagram of a radar checking device according to an embodiment of the present disclosure;
fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The working principle of a Laser Detection and Ranging system (Light Detection and Ranging, also called Laser Radar or Laser Detection and Ranging, LADAR) is to transmit a Detection signal (i.e. Laser beam) to a target, compare the received signal (i.e. target echo) reflected from the target with the transmitted signal, and after appropriate processing, obtain the relevant information of the target, such as the target distance, the reflection intensity, etc.
The Lidar Sensors (Lidar Sensors) are laser radars for short, refer to Sensors applying Lidar technology, and have the functions of identifying objects, assisting in positioning and the like in automatic driving of unmanned vehicles. Therefore, in order to avoid accidents, it is important to ensure that the lidar can be used normally, but in the prior art, the lidar is usually calibrated only, but the inaccurate data caused by the inaccurate calibration can be solved.
Based on the above analysis, the applicant finds that whether the laser radar is qualified or not can be checked first, and the problem of inaccurate data caused by using unqualified laser radars is avoided. Referring to fig. 1, fig. 1 is a block diagram of a radar inspection system according to an embodiment of the present disclosure, where the radar inspection system 100 may include a radar to be inspected 101 and a server 102. The radar 101 to be checked and the server 102 may be in communication connection in multiple ways, for example: a wired connection, a wireless connection, etc., which are not specifically limited in the embodiments of the present application, and those skilled in the art can appropriately adjust the connection according to the means of ordinary skill in the art.
The radar to be checked 101 refers to a laser radar which needs to be checked to be qualified, and one or more radars to be checked 101 and one or more servers 102 can be included in a radar checking system. When the radar 101 to be inspected is inspected, the radar 101 to be inspected can acquire data of a target to be inspected.
As an embodiment, the radar 101 to be inspected may perform one-time acquisition on the target to be inspected, so as to obtain multiple sets of data to be inspected corresponding to multiple patterns in the target to be inspected. Wherein, the various patterns in the target to be measured can be used for judging whether the different inspection indexes of the radar 101 to be inspected are qualified or not respectively.
For example, the target to be measured may be a test background wall surface on which various inspection images for inspection are pasted, for example: a bar code, a two-dimensional code, a tree, a person, a vehicle, a road sign including a letter/number/arrow direction, etc., a color gradation card, a resolution test card, etc., and then transmits detection information to one or more inspection images using the radar 101 to be inspected and receives a signal reflected from a target. The signal reflected from the target may be sent to the server 102, the server 102 may directly check whether the radar 101 to be checked is qualified according to the signal reflected from the target, and the server 102 may also perform appropriate processing on the signal reflected from the target, and then check whether the radar 101 to be checked is qualified according to the processed data.
It should be noted that, when the radar 101 to be inspected is inspected, all or part of the graphs on the test background wall surface may be verified, and each graph corresponds to a respective test item, for example: the resolution test card is used to check the resolution of the radar 101 to be checked, the barcode is used to check the recognition accuracy of the radar 101 to be checked, and the like. The embodiment of the application does not specifically limit the type of the inspection image and the corresponding test item, and those skilled in the art can make appropriate adjustments according to actual situations.
It is understood that, in order to ensure the accuracy of the inspection, the radar 101 to be inspected should be set within a range capable of recognizing the test background, thereby ensuring that there is no problem of data deviation due to a long setting distance. In addition, the test background may be fixedly set or may be dynamically set, for example, the test background is located on a surface of a moving vehicle to simulate a process of dynamically acquiring data by the laser radar, which is not specifically limited in the embodiment of the present application.
It should be noted that, in addition to the manner of using the test background in the above embodiment, other manners may also be used, such as: the radar to be detected is directly arranged on the unmanned vehicle, and the radar to be detected is detected in the running process of the unmanned vehicle.
In addition, although the data output by different laser radars are point cloud data, there may be different encoding formats of the original data packets output by different laser radars. Therefore, in order to facilitate the server 102 to check out the different lidar, the raw data packets output by all the lidar may be converted into a unified point cloud coordinate format. The server 102 may convert the format of the data output by the radar 101 to be checked after receiving the data, and may also receive data of which the format is converted by another server, which is not specifically limited in the embodiment of the present application.
Based on the radar inspection system 100, the embodiment of the present application further provides a radar inspection method, which is applied to the server 102 in the radar inspection system 100, and the server 102 obtains the data to be inspected, which is collected by the radar 101 to be inspected, and inspects whether the radar 101 to be inspected is qualified in advance according to the data to be inspected. The above radar verification method is described in detail below.
Referring to fig. 2, fig. 2 is a flowchart of a radar verification method according to an embodiment of the present disclosure, where the radar verification method includes the following steps:
step S201: and acquiring data to be inspected collected by the radar to be inspected.
Step S202: and verifying whether the data to be checked is reasonable.
Step S203: and when the data to be detected is reasonable, detecting whether the radar to be detected is qualified or not according to the data to be detected.
Specifically, the server can acquire the data to be inspected that await inspection radar gathered at first, and wherein, the mode that the server acquires the data to be inspected that await inspection radar gathered has the multiple, for example: receiving data sent by a radar to be detected; or receiving data sent by other servers; or, the data to be inspected collected by the radar to be inspected is acquired from the database, and the like, which is not specifically limited in the embodiment of the present application.
The data to be detected can be data obtained by acquiring a target to be detected by a radar to be detected at one time; the target to be measured may include a plurality of patterns for respectively determining whether a plurality of inspection indexes (e.g., the number of point clouds, accuracy, precision, reflectance deviation, and/or recognition rate, etc.) of the radar to be inspected satisfy preset conditions. It should be noted that the specific implementation of the target to be measured has been described in detail in the above embodiments, and is not described herein again.
As an embodiment, when the server receives the data sent by the radar to be inspected, firstly, a plurality of inspection images for inspection can be pasted on the wall surface of the test background, then the radar to be inspected is used for transmitting detection information to one or more inspection images, and receiving the signal reflected from the target as the data to be inspected collected by the radar to be inspected, and the radar to be inspected sends the data to be inspected to the server.
In this embodiment, the data sent by the radar to be checked received by the server may be used as the data to be checked; after the server receives the data sent by the radar to be detected, the data obtained by processing the data can be used as the data to be detected, and only the follow-up server needs to be ensured to detect the radar to be detected according to the data to be detected.
As another embodiment, when the server receives data sent by other servers, first, similarly, a plurality of inspection images for inspection may be pasted on the test background wall surface, then probe information is transmitted to one or more inspection images by using the radar to be inspected, and signals reflected from the target are received. In addition, the radar to be inspected sends the signal to other servers, the other servers perform appropriate processing (for example, processing such as format conversion) on the signal to obtain processed data, the processed data is acquired for the radar to be inspected, and the other servers send the data to be inspected to the server.
The server can acquire the data to be inspected collected by the radar to be inspected in real time, and can also periodically acquire the data to be inspected collected by the radar to be inspected; the server can be after obtaining the data to be inspected that the radar that awaits inspecting of N periods was gathered, judge according to the data to be inspected of N periods whether qualified the radar that awaits inspecting, also can be real-timely according to the data to be inspected judge whether qualified the radar that awaits inspecting, and this application embodiment does not do specific restriction to this.
It can be understood that, when the server executes step S201, there is also a case that the server cannot normally acquire the data to be inspected collected by the radar to be inspected, and at this time, there may be a plurality of cases, for example: the radar to be detected is unqualified, the communication connection between the radar to be detected and the server has problems, and the like, so that the reasons for the problems need to be checked, and particularly whether the radar to be detected has problems or not needs to be checked.
That is to say, when the server cannot obtain the data to be checked, the radar checking method provided in the embodiment of the present application may further include the following steps:
judging whether the current value of the radar to be detected meets a preset current condition or not; and/or judging whether the radar to be detected can respond to the control command.
The method comprises the steps of obtaining data to be detected by a server, and detecting whether the radar to be detected is qualified or not when the server does not obtain the data to be detected by adopting various modes. For example: judging whether the current value of a power supply for supplying power to the radar to be detected meets a preset current condition or not, and if so, determining that the power supply of the radar to be detected has no problem; if not, it can be considered that there is a problem in checking the power supply of the radar. Alternatively, a control command (e.g., ping radar command) may be sent to the radar to be inspected to determine whether the radar to be inspected can respond to the control command. If the radar to be detected can respond to the control command, the internal program of the radar to be detected can be considered to have no problem; if the radar to be checked cannot respond to the control command, it can be considered that the internal program of the radar to be checked has a problem.
It should be noted that the preset current condition may be a preset condition, and is used to represent whether the current value of the radar power supply to be checked meets the condition of normal operation, for example: current values greater than 2A, etc. In addition, the two manners of determining whether the radar to be detected is qualified when the server does not acquire the data to be detected are only examples provided by the application, and a person skilled in the art can perform appropriate adjustment according to actual conditions.
Therefore, the laser radar may have the data which cannot be collected in the inspection process, and the problems of the laser radar can be checked at the moment, so that the laser radar can be subjected to targeted processing.
When the server acquires the data to be checked collected by the radar to be checked, the server can further verify whether the data to be checked is reasonable. As an embodiment, step S202 may include the following steps:
and judging whether the digit of the data to be detected meets a preset digit condition or not.
Whether the data to be checked is reasonable or not can be verified by judging whether the number of bits of the data to be checked meets a preset number of bits condition or not. For example, the normal data to be checked should be 120 bits, but the data acquired by the server is only 119 bits, which indicates that there is a problem in the data transmission process or a problem in the data acquisition process of the radar to be checked, and therefore, the radar to be checked may be considered to be unqualified.
It should be noted that the preset digit condition may be a preset condition, and is used to characterize the digit of the data to be checked normally acquired by the radar to be checked, for example: the number of bits equals 120 bits, etc. In addition, the above-mentioned manner for verifying whether the data to be checked is reasonable is only an example provided in the present application, and those skilled in the art can make appropriate adjustments according to actual situations.
Therefore, the digit of the qualified laser radar collected data should meet the preset digit condition, and when the data collected by the laser radar is not met the preset digit condition, the laser radar can be considered to be unqualified and cannot be normally used.
When the server verifies that the data to be checked collected by the radar to be checked is reasonable, the server can further check whether the radar to be checked is qualified or not according to the data to be checked. There may be a plurality of implementation manners of step S203, and five implementation manners are described below. It is to be understood that the implementation manner of the five steps S203 described below is only an example provided in the embodiment of the present application, and those skilled in the art may adopt other implementation manners to check whether the radar to be checked is qualified according to the data to be checked according to the conventional technical means in the art.
First, step S203 may include the steps of:
and judging whether the point cloud number of the data to be detected meets the preset point cloud number condition.
And detecting whether the radar to be detected is qualified or not by judging whether the point cloud number of the data to be detected meets the preset point cloud number condition or not. For example, the number of normal point clouds of data to be inspected should be n, but the number of point clouds acquired by the server is only m, which indicates that the data has a problem, and therefore, the radar to be inspected can be considered to be unqualified.
It should be noted that the preset point cloud number condition may be a preset condition, and is used to represent the standard point cloud number of the to-be-inspected data acquired by the to-be-inspected radar, for example: the number of point clouds is equal to n, etc.
Therefore, the point cloud number of the qualified data collected by the laser radar should meet the preset point cloud number condition, and when the data collected by the laser radar is not met the preset point cloud number condition, the laser radar can be considered to be unqualified and cannot be normally used.
Second, step S203 may include the steps of:
and judging whether the accuracy of the data to be detected is less than the preset accuracy.
The accuracy of the data to be detected represents the distance between the position of a certain object collected by the radar to be detected and the actual position of the object, and whether the radar to be detected is qualified or not can be detected by judging whether the accuracy of the data to be detected is smaller than the preset accuracy or not. For example, the accuracy of normal data to be checked should be less than 5 cm, but the accuracy of the data to be checked acquired by the server is 6 cm, which indicates that there is a problem in the data, and therefore, the radar to be checked may be considered to be unqualified.
It should be noted that the preset accuracy may be a preset value, and is used to characterize a normal range of accuracy of the data to be detected collected by the radar to be detected, for example: accuracy less than 5 cm, etc.
Therefore, the accuracy of the data collected by the qualified laser radar should be smaller than the preset accuracy, and when the accuracy of the data collected by the laser radar is not smaller than the preset accuracy, the laser radar can be considered to be unqualified and cannot be normally used.
Third, the step S203 may include the steps of:
and judging whether the accuracy of the data to be detected is less than the preset accuracy.
The accuracy of the data to be detected represents the distance between the average value of a plurality of positions of a certain object acquired by the radar to be detected and the actual position of the object, and whether the radar to be detected is qualified or not can be detected by judging whether the accuracy of the data to be detected is smaller than the preset accuracy or not. For example, the accuracy of normal data to be detected should be less than 3 cm, but the accuracy of the data to be detected acquired by the server is 5 cm, which indicates that the data is in a problem, and therefore, the radar to be detected can be considered to be unqualified.
It should be noted that the preset accuracy may be a preset value, and is used to characterize a normal range of accuracy of the data to be inspected collected by the radar to be inspected, for example: accuracy less than 3 cm, etc.
Therefore, the accuracy of the data collected by the qualified laser radar is smaller than the preset accuracy, and when the accuracy of the data collected by the laser radar is not smaller than the preset accuracy, the laser radar can be considered to be unqualified and cannot be normally used.
Fourth, step S203 may include the steps of:
and judging whether the reflectivity deviation of the data to be detected is smaller than a preset deviation rate.
And whether the radar to be detected is qualified or not can be detected by judging whether the reflectivity deviation of the data to be detected is smaller than a preset deviation rate or not. For example, the reflectivity deviation of the normal data to be detected should be less than 5%, but the reflectivity deviation of the data to be detected acquired by the server is 7%, which indicates that the data is in a problem, and therefore, the radar to be detected can be considered to be unqualified.
It should be noted that the preset deviation ratio may be a preset percentage, and is used for characterizing a normal range of the reflectivity deviation of the data to be detected collected by the radar to be detected, for example: a reflectance deviation of less than 5%, etc.
Therefore, the reflectivity deviation of the qualified data collected by the laser radar is smaller than the preset deviation rate, and when the reflectivity deviation of the data collected by the laser radar is not smaller than the preset deviation rate, the laser radar can be considered to be unqualified and cannot be normally used.
Fifth, the step S203 may include the steps of:
and judging whether the recognition rate of the data to be detected is greater than a preset recognition rate.
The identification rate of the data to be detected is judged to represent the identification degree of the radar to be detected to the target, and whether the radar to be detected is qualified or not can be detected by judging whether the identification rate of the data to be detected is greater than a preset identification rate or not. For example, the identification rate of the normal data to be detected should be greater than 98%, but the identification rate of the data to be detected acquired by the server is 97%, which indicates that the data is in a problem, and therefore, the radar to be detected can be considered to be unqualified.
It should be noted that the preset recognition rate may be a preset percentage, and is used to characterize a normal range of the recognition rate of the data to be detected collected by the radar to be detected, for example: a deviation of reflectivity of more than 98%, etc.
Therefore, the identification rate of the qualified data collected by the laser radar is larger than the preset identification rate, and when the identification rate of the data collected by the laser radar is not larger than the preset identification rate, the laser radar can be considered to be unqualified and cannot be normally used.
It can be understood that only one of the above five ways of checking whether the radar to be checked is qualified according to the data to be checked may be selected, multiple ways of the above five ways may also be selected, and the above five ways may also be selected at the same time, which is not specifically limited in the embodiment of the present application. The following description will be made by taking an example of simultaneously selecting the above five modes.
When the radar to be inspected is qualified according to the data to be inspected, the inspection conditions can be determined in advance to include:
firstly, judging whether the point cloud number of data to be detected meets a preset point cloud number condition or not;
secondly, judging whether the accuracy of the data to be detected is smaller than the preset accuracy;
thirdly, judging whether the accuracy of the data to be detected is smaller than the preset accuracy or not;
fourthly, judging whether the reflectivity deviation of the data to be detected is smaller than a preset deviation rate or not;
and fifthly, judging whether the recognition rate of the data to be detected is greater than the preset recognition rate.
According to the above-mentioned inspection conditions, step S203 may include the steps of:
and judging whether the inspection data meet all inspection conditions or not, and if so, determining that the radar to be inspected is qualified.
The conditions one to five have already been described in detail in the above embodiments, and are not described again here. It can be understood that, in order to ensure that the radar to be inspected is qualified in all aspects, the above five conditions need to be satisfied simultaneously, and the radar to be inspected is considered to be qualified, and as long as one condition is not satisfied, the radar to be inspected can be considered to be unqualified.
Therefore, various tests can be carried out on the data collected by the laser radar, and as long as the data do not meet any one of the conditions, the laser radar can be considered to be unqualified and cannot be normally used. Due to the fact that data collected by the laser radar are inspected in multiple aspects, the qualification rate of the laser radar can be further guaranteed.
In this application embodiment, wait to examine the radar and can once only carry out data acquisition to the target of awaiting measuring, then wait to examine the radar collection wait to examine when data is reasonable waiting to examine, the server can examine according to waiting to examine data inspection and wait to examine whether qualified the radar to the realization is qualified discerning laser radar, the laser radar who guarantees to use can normally work, avoids the inaccurate problem of data because of using unqualified laser radar to lead to.
Referring to fig. 3, fig. 3 is a block diagram of a radar checking device according to an embodiment of the present disclosure, where the radar checking device 300 may include: the acquisition module 301 is used for acquiring data to be inspected, which is acquired by a radar to be inspected; the data to be detected is data obtained by acquiring a target to be detected by the radar to be detected at one time; a verification module 302, configured to verify whether the data to be verified is reasonable; and the inspection module 303 is used for inspecting whether the radar to be inspected is qualified or not according to the data to be inspected when the data to be inspected is reasonable.
In this application embodiment, wait to examine the radar and can once only carry out data acquisition to the fixed target that awaits measuring, then wait to examine the data acquisition waiting to examine when reasonable, the server can be based on waiting to examine the data inspection and waiting to examine whether qualified radar is examined to the realization discerns laser radar is qualified, and the laser radar who guarantees to use can normally work.
Further, the verification module 302 is further configured to: and judging whether the bit number of the data to be detected meets a preset bit number condition or not.
In the embodiment of the application, the digit of the qualified laser radar collected data should meet the preset digit condition, and when the data collected by the laser radar is not met the preset digit condition, the laser radar can be considered to be unqualified and cannot be normally used.
Further, the checking module 303 is further configured to: and judging whether the number, accuracy, precision, reflectivity deviation and/or recognition rate of the point clouds of the data to be detected meet preset conditions.
In the embodiment of the application, the number, the accuracy, the precision, the reflectivity deviation and the recognition rate of the point cloud of the qualified data acquired by the laser radar all meet the preset conditions, and the server can judge one or more conditions to determine whether each radar to be detected is qualified.
Further, the target to be measured includes: a plurality of patterns for respectively judging whether the number of point clouds, the accuracy, the precision, the reflectance deviation, and/or the recognition rate satisfy the preset conditions.
In the embodiment of the application, the radar to be detected can acquire data of various patterns at one time, and different patterns can be used for judging whether the acquired data meet different preset conditions.
Further, when the data to be inspected cannot be acquired, the radar inspection device 300 further includes: the judging module is used for judging whether the current value of the radar to be detected meets a preset current condition or not; and/or judging whether the radar to be detected can respond to a control command.
In the embodiment of the application, the laser radar may have data which cannot be collected in the inspection process, and the problem of the laser radar can be checked at the moment, so that the laser radar can be subjected to targeted processing.
Referring to fig. 4, fig. 4 is a block diagram of an electronic device according to an embodiment of the present disclosure, where the electronic device 400 includes: at least one processor 401, at least one communication interface 402, at least one memory 403 and at least one communication bus 404. Wherein the communication bus 404 is used for implementing direct connection communication of these components, the communication interface 402 is used for communicating signaling or data with other node devices, and the memory 403 stores machine-readable instructions executable by the processor 401. When the electronic device 400 is in operation, the processor 401 communicates with the memory 403 via the communication bus 404, and the machine-readable instructions, when invoked by the processor 401, perform the radar verification method described above.
For example, the processor 401 of the embodiment of the present application may read the computer program from the memory 403 through the communication bus 404 and execute the computer program to implement the following method: step S201: and acquiring data to be inspected collected by the radar to be inspected. Step S202: and verifying whether the data to be checked is reasonable. Step S203: and when the data to be detected is reasonable, detecting whether the radar to be detected is qualified or not according to the data to be detected.
The processor 401 may be an integrated circuit chip having signal processing capabilities. The processor 401 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. Which may implement or perform the various methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The Memory 403 may include, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read Only Memory (PROM), Erasable Read Only Memory (EPROM), electrically Erasable Read Only Memory (EEPROM), and the like.
It will be appreciated that the configuration shown in fig. 4 is merely illustrative and that electronic device 400 may include more or fewer components than shown in fig. 4 or have a different configuration than shown in fig. 4. The components shown in fig. 4 may be implemented in hardware, software, or a combination thereof. In the embodiment of the present application, the electronic device 400 may be, but is not limited to, an entity device such as a desktop, a laptop, a smart phone, an intelligent wearable device, and a vehicle-mounted device, and may also be a virtual device such as a virtual machine. In addition, the electronic device 400 is not necessarily a single device, but may be a combination of multiple devices, such as a server cluster, and the like. In the embodiment of the present application, the server in the radar verification method may be implemented by using the electronic device 400 shown in fig. 4.
Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, which when executed by a computer, the computer is capable of performing the steps of the radar verification method in the above embodiments, for example, including: acquiring data to be inspected collected by a radar to be inspected; the data to be detected is data obtained by acquiring a target to be detected by the radar to be detected at one time; verifying whether the data to be detected is reasonable; and when the data to be detected is reasonable, detecting whether the radar to be detected is qualified or not according to the data to be detected.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A radar verification method, comprising:
acquiring data to be inspected collected by a radar to be inspected; the data to be detected is data obtained by acquiring a target to be detected by the radar to be detected at one time;
verifying whether the data to be detected is reasonable;
and when the data to be detected is reasonable, detecting whether the radar to be detected is qualified or not according to the data to be detected.
2. The radar inspection method of claim 1, wherein said verifying whether said data to be inspected is legitimate comprises:
and judging whether the bit number of the data to be detected meets a preset bit number condition or not.
3. The radar inspection method according to claim 1, wherein said inspecting whether the radar to be inspected is qualified according to the data to be inspected comprises:
and judging whether the number, accuracy, precision, reflectivity deviation and/or recognition rate of the point clouds of the data to be detected meet preset conditions.
4. The radar verification method according to any one of claims 1 to 3, wherein the target to be determined includes:
a plurality of patterns for respectively judging whether the number of point clouds, the accuracy, the precision, the reflectance deviation, and/or the recognition rate satisfy the preset conditions.
5. The radar inspection method according to any one of claims 1 to 4, wherein when the data to be inspected cannot be acquired, the radar inspection method further comprises:
judging whether the current value of the radar to be detected meets a preset current condition or not; and/or the presence of a gas in the gas,
and judging whether the radar to be detected can respond to a control command.
6. A radar verification device, comprising:
the acquisition module is used for acquiring data to be inspected, which are acquired by the radar to be inspected; the data to be detected is data obtained by acquiring a target to be detected by the radar to be detected at one time;
the verification module is used for verifying whether the data to be verified are reasonable or not;
and the inspection module is used for inspecting whether the radar to be inspected is qualified or not according to the data to be inspected when the data to be inspected is reasonable.
7. An electronic device, comprising: a processor, a memory, and a bus;
the processor and the memory are communicated with each other through the bus;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the radar verification method of any of claims 1-5.
8. A non-transitory computer-readable storage medium storing computer instructions which, when executed by a computer, cause the computer to perform the radar verification method of any one of claims 1-5.
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Application publication date: 20200626 |