CN114325674A - Data detection method and device, vehicle and storage medium - Google Patents
Data detection method and device, vehicle and storage medium Download PDFInfo
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- CN114325674A CN114325674A CN202111604215.0A CN202111604215A CN114325674A CN 114325674 A CN114325674 A CN 114325674A CN 202111604215 A CN202111604215 A CN 202111604215A CN 114325674 A CN114325674 A CN 114325674A
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Abstract
The embodiment of the invention provides a data detection method and device, a vehicle and a storage medium; the method comprises the following steps: controlling a first acquisition device and a second acquisition device to simultaneously acquire data of a target scene; the target scene comprises a rotating shaft which rotates; acquiring first acquisition data acquired by first acquisition equipment and second acquisition data acquired by second acquisition equipment; and when the phase difference between the first phase information of the rotating shaft corresponding to the first acquisition data and the second phase information of the rotating shaft corresponding to the second acquisition data is not greater than the phase difference threshold value, outputting the first acquisition data and the second acquisition data. According to the embodiment of the invention, whether the collected data collected by different collection equipment is the data collected at the same moment aiming at the scene or not is judged based on the rotating shaft rotating in the scene, and the data is output when the collected data is the data collected at the same moment aiming at the scene, so that the data collected by different collection equipment is ensured to be synchronous.
Description
Technical Field
The present invention relates to the field of data detection technologies, and in particular, to a method and an apparatus for detecting data, a vehicle, and a storage medium.
Background
In recent years, with the rapid development of the automobile industry and the improvement of the technological level, the automobile requirements of the market and users are gradually increased. In order to further improve the driving comfort of the users, many automobile manufacturers have conducted related research on autonomous vehicles, and some of the autonomous vehicles have begun to appear in the automobile market.
In practical applications, various sensors may be integrated in autonomous vehicles, such as: radar sensors, image sensors, etc.
When the multiple sensors are used for data acquisition, due to the fact that certain differences exist in the data acquisition among different sensors, when the multiple sensors are controlled to acquire data at the same time, the data aligned at the same time cannot be acquired aiming at the same object, and then problems occur when the acquired data are used subsequently.
Disclosure of Invention
In view of the above problems, it is proposed to provide a data detection method and apparatus, a vehicle, and a storage medium that overcome or at least partially solve the above problems, including:
a method for detecting data, the method comprising:
controlling a first acquisition device and a second acquisition device to simultaneously acquire data of a target scene; the target scene comprises a rotating shaft which rotates;
acquiring first acquisition data acquired by first acquisition equipment and second acquisition data acquired by second acquisition equipment;
and when the phase difference between the first phase information of the rotating shaft corresponding to the first acquisition data and the second phase information of the rotating shaft corresponding to the second acquisition data is not greater than the phase difference threshold value, outputting the first acquisition data and the second acquisition data.
Optionally, the first acquisition device and the second acquisition device are connected to the data detection system, and when a phase difference between first phase information of the rotating shaft corresponding to the first acquisition data and second phase information of the rotating shaft corresponding to the second acquisition data is not greater than a phase difference threshold, the first acquisition data and the second acquisition data are output, including:
acquiring first timestamp information of a data detection system when first acquisition equipment acquires first acquisition data;
acquiring second timestamp information of the data detection system when second acquisition equipment acquires second acquisition data;
determining a first time difference between the first time stamp information and the second time stamp information, and judging whether the first time difference is not greater than a time difference threshold value;
and when the phase difference between the first phase information and the second phase information is not larger than the phase difference threshold value and the first time difference is not larger than the time difference threshold value, outputting the first collected data and the second collected data.
Optionally, the method further comprises:
determining first current position information of a rotating shaft which rotates according to the first acquisition data;
determining second current position information of the rotating shaft rotating according to the second acquired data;
determining first phase information according to the first current position information and preset initial position information;
and determining second phase information according to the second current position information and the preset initial position information.
Optionally, the first collected data includes at least two, the second collected data includes at least two, the first collected data is radar data, and the second collected data is image data;
the method further comprises the following steps:
when the phase difference between the third phase information corresponding to the first radar data and the fourth phase information corresponding to the first image data is larger than a phase difference threshold value, acquiring rotation rate information of the rotating shaft rotating;
determining a second time difference between the third phase information and the fourth phase information according to the rotation rate information;
acquiring second radar data from the first acquired data according to the second time difference; the phase difference between the fifth phase information corresponding to the second radar data and the fourth phase information corresponding to the first image data is not greater than a phase difference threshold value;
the second radar data and the first image data are output.
Optionally, the method further comprises:
acquiring second image data from the second acquisition data according to the second time difference; the phase difference between sixth phase information corresponding to the second image data and third phase information corresponding to the first radar data is not greater than a phase difference threshold value;
the second image data and the first radar data are output.
Optionally, the first acquisition device comprises a radar sensor and the second acquisition device comprises an image sensor;
the method for controlling the first acquisition equipment and the second acquisition equipment to simultaneously acquire data of a target scene comprises the following steps:
controlling a radar sensor to emit electromagnetic waves to a target scene to generate first acquisition data;
and controlling the image sensor to shoot the target scene to generate second acquisition data.
The embodiment of the invention also provides a data detection device, which comprises:
the control module is used for controlling the first acquisition equipment and the second acquisition equipment to simultaneously acquire data of a target scene; the target scene comprises a rotating shaft which rotates;
the acquisition module is used for acquiring first acquisition data acquired by first acquisition equipment and second acquisition data acquired by second acquisition equipment;
and the first output module is used for outputting the first acquisition data and the second acquisition data when the phase difference between the first phase information of the rotating shaft corresponding to the first acquisition data and the second phase information of the rotating shaft corresponding to the second acquisition data is not greater than a phase difference threshold value.
Optionally, the first acquisition device and the second acquisition device are connected with a data detection system,
the first output module is used for acquiring first timestamp information of the data detection system when the first acquisition equipment acquires first acquisition data; acquiring second timestamp information of the data detection system when second acquisition equipment acquires second acquisition data; determining a first time difference between the first time stamp information and the second time stamp information, and judging whether the first time difference is not greater than a time difference threshold value; and when the phase difference between the first phase information and the second phase information is not larger than the phase difference threshold value and the first time difference is not larger than the time difference threshold value, outputting the first collected data and the second collected data.
Optionally, the apparatus further comprises:
the phase information determining module is used for determining first current position information of the rotating shaft according to the first acquisition data; determining second current position information of the rotating shaft rotating according to the second acquired data; determining first phase information according to the first current position information and preset initial position information; and determining second phase information according to the second current position information and the preset initial position information.
Optionally, the first collected data includes at least two, the second collected data includes at least two, the first collected data is radar data, and the second collected data is image data;
the device still includes:
a second output module, configured to acquire rotation rate information of the rotating shaft that is rotating when a phase difference between third phase information corresponding to the first radar data and fourth phase information corresponding to the first image data is greater than a phase difference threshold; determining a second time difference between the third phase information and the fourth phase information according to the rotation rate information; acquiring second radar data from the first acquired data according to the second time difference; the phase difference between the fifth phase information corresponding to the second radar data and the fourth phase information corresponding to the first image data is not greater than a phase difference threshold value; the second radar data and the first image data are output.
Optionally, the apparatus further comprises:
the third output module is used for acquiring second image data from the second acquisition data according to the second time difference; the phase difference between sixth phase information corresponding to the second image data and third phase information corresponding to the first radar data is not greater than a phase difference threshold value; the second image data and the first radar data are output.
Optionally, the first acquisition device comprises a radar sensor and the second acquisition device comprises an image sensor;
a control module, comprising:
the first control submodule is used for controlling the radar sensor to emit electromagnetic waves to a target scene so as to generate first acquisition data;
and the second control submodule is used for controlling the image sensor to shoot the target scene so as to generate second acquisition data.
The embodiment of the invention also provides a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the above data detection method when being executed by the processor.
The embodiment of the invention also provides a computer readable storage medium, a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to realize the data detection method.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, a first acquisition device and a second acquisition device are controlled to simultaneously acquire data of a target scene; the target scene comprises a rotating shaft which rotates; acquiring first acquisition data acquired by first acquisition equipment and second acquisition data acquired by second acquisition equipment; and when the phase difference between the first phase information of the rotating shaft corresponding to the first acquisition data and the second phase information of the rotating shaft corresponding to the second acquisition data is not greater than the phase difference threshold value, outputting the first acquisition data and the second acquisition data. According to the embodiment of the invention, whether the collected data collected by different collection equipment is the data collected at the same moment aiming at the scene or not is judged based on the rotating shaft rotating in the scene, and the data is output when the collected data is the data collected at the same moment aiming at the scene, so that the data collected by different collection equipment is ensured to be synchronous.
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In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flow chart of the steps of a method for detecting data in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of steps of another method of data detection according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an embodiment of the present invention for collecting data of a target scene;
FIG. 4 is a flow chart of steps of a method for detecting data according to another embodiment of the present invention;
fig. 5 is a block diagram of a data detection apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart illustrating steps of a data detection method according to an embodiment of the present invention is shown, including the following steps:
wherein the first and second capturing devices may be different kinds of sensors deployed in the vehicle, such as: may be a radar sensor, an image sensor, etc., and embodiments of the present invention are not limited in this respect.
In practical applications, calibration of data may need to be performed based on data collected by different sensors; or, in the vehicle driving process, data collected by different sensors needs to be used as input data for decisions such as automatic driving, obstacle avoidance and the like.
Problems may arise when using the data input if they are acquired for different moments of the target scene, for example: calibration cannot be accurately performed, or automatic driving planning and obstacle avoidance cannot be accurately performed.
In order to ensure that the output collected data are aimed at the same moment of a target scene; in the embodiment of the invention, a rotating shaft can be preset; this rotation axis need set up the position that can gather at first collection equipment and second collection equipment, and the rotation axis need guarantee that rotation axis is at rotatory in-process for the position of first collection equipment and second collection equipment, and first collection equipment and second collection equipment can gather the data of the different phases of rotation axis.
The position at which the rotation axis is set may be set according to actual conditions, for example: the present invention may be disposed on a vehicle, or may be disposed outside the vehicle, and the embodiment of the present invention is not limited thereto.
Then, the rotating shaft can be controlled to rotate at a certain rotation rate; when the rotating shaft starts to rotate and is stabilized at a certain rotating speed, the first acquisition device and the second acquisition device can be simultaneously controlled to acquire data of a target scene comprising the rotating shaft.
102, acquiring first acquisition data acquired by first acquisition equipment and second acquisition data acquired by second acquisition equipment;
when the first acquisition equipment acquires data of a target scene, corresponding first acquisition data can be generated; correspondingly, when the second acquisition device acquires data of the target scene, the second acquisition device may also generate corresponding second acquisition data.
After the first acquisition equipment and the second acquisition equipment generate the first acquisition data and the second acquisition data, the first acquisition equipment and the second acquisition equipment can be sent to a data detection system connected with the first acquisition equipment and the second acquisition equipment in real time; of course, the data detection system may also acquire the first acquisition data and the second acquisition data from the first acquisition device and the second acquisition device in real time after controlling the first acquisition device and the second acquisition device to acquire data of the target scene, which is not limited in this embodiment of the present invention.
And 103, outputting the first collected data and the second collected data when the phase difference between the first phase information of the rotating shaft corresponding to the first collected data and the second phase information of the rotating shaft corresponding to the second collected data is not greater than the phase difference threshold value.
The first phase information (or the second phase information) may refer to an angular difference between a current position of the rotating shaft and an initial position when the first acquisition device (or the second acquisition device) acquires data for the target scene.
In practical applications, the first collected data and the second collected data are generated by different collection devices, so that even if the collection is controlled simultaneously, the first collected data and the second collected data may be asynchronous due to different collection frequencies of the collection devices.
In order to ensure that the output collected data are synchronous, the embodiment of the present invention may determine first phase information of a rotating axis included in the target scene based on the first collected data, and determine second phase information of the rotating axis included in the target scene based on the second collected data; and then, whether the first collected data and the second collected data are collected aiming at the target scene at the same moment is judged based on the first phase information and the second phase information.
Specifically, a phase difference may be determined according to the first phase information and the second phase information; then judging whether the phase difference is not greater than a preset phase difference threshold value or not; the phase difference threshold may be set according to actual conditions, for example: 1 deg., and the embodiments of the present invention are not limited thereto.
If the phase difference between the first phase information and the second phase information exceeds the phase difference threshold, it may indicate that the first collected data and the second collected data are not data collected at the same time for the target scene; at this time, the first collected data and the second collected data may not be output.
If the phase difference between the first phase information and the second phase information is not greater than the phase difference threshold, it may be indicated that the first collected data and the second collected data are data collected at the same time for the target scene; at this time, the first collected data and the second collected data may be output, so that calibration in other experiments is performed subsequently based on the first collected data and the second collected data, or path planning, obstacle avoidance and the like in the automatic driving process of the vehicle are performed, which is not limited in this embodiment of the present invention.
In the embodiment of the invention, a first acquisition device and a second acquisition device are controlled to simultaneously acquire data of a target scene; the target scene comprises a rotating shaft which rotates; acquiring first acquisition data acquired by first acquisition equipment and second acquisition data acquired by second acquisition equipment; and when the phase difference between the first phase information of the rotating shaft corresponding to the first acquisition data and the second phase information of the rotating shaft corresponding to the second acquisition data is not greater than the phase difference threshold value, outputting the first acquisition data and the second acquisition data. According to the embodiment of the invention, whether the collected data collected by different collection equipment is the data collected at the same moment aiming at the scene or not is judged based on the rotating shaft rotating in the scene, and the data is output when the collected data is the data collected at the same moment aiming at the scene, so that the data collected by different collection equipment is ensured to be synchronous.
Referring to fig. 2, a flow chart of steps of another data detection method according to an embodiment of the present invention is shown, including the following steps:
in practical application, the rotating shaft can be controlled to rotate at a certain rotation rate; when the rotating shaft starts to rotate and is stabilized at a certain rotating speed, the first acquisition device and the second acquisition device can be simultaneously controlled to acquire data of a target scene comprising the rotating shaft.
when the first acquisition equipment acquires data of a target scene, corresponding first acquisition data can be generated; correspondingly, when the second acquisition device acquires data of the target scene, the second acquisition device may also generate corresponding second acquisition data.
After the first acquisition equipment and the second acquisition equipment generate the first acquisition data and the second acquisition data, the first acquisition equipment and the second acquisition equipment can be sent to a data detection system connected with the first acquisition equipment and the second acquisition equipment in real time; of course, the data detection system may also acquire the first acquisition data and the second acquisition data from the first acquisition device and the second acquisition device in real time after controlling the first acquisition device and the second acquisition device to acquire data of the target scene, which is not limited in this embodiment of the present invention.
wherein, the data detection system can be connected with other systems, such as: systems for planning autonomous driving, systems for vehicle obstacle avoidance, etc.
The data detection system can also be connected with the first acquisition equipment and the second acquisition equipment, and can acquire first acquisition data and second acquisition data from the first acquisition equipment and the second acquisition equipment; the data detection system may also be configured to verify the acquired data generated by the different acquisition devices so that the first acquired data and the second acquired data verified as being synchronized can be output to other systems.
In practical application, when the first acquisition device acquires first acquisition data, the data detection system can generate first timestamp information; the first timestamp information may refer to a system time of the data detection system when the first acquisition device acquired the first acquisition data.
As an example, when the first collecting device collects the first collected data, a system time of the first collecting device itself may be determined first, and then the corresponding first timestamp information is determined based on a time conversion relationship between the first collecting device and the data detection system, which is not limited in this embodiment of the present invention.
in practical application, when the second acquisition device acquires second acquisition data, the data detection system can generate second timestamp information; the second timestamp information may refer to a system time of the data detection system when the second acquisition device acquired the second acquisition data.
As an example, when the second acquisition device acquires the second acquisition data, a system time of the second acquisition device itself may be determined first, and then the corresponding second timestamp information is determined based on a time conversion relationship between the second acquisition device and the data detection system, which is not limited in this embodiment of the present invention.
in practical applications, if it is determined whether the first collected data and the second collected data are collected at the same time for the target scene only by using the phase difference, there may be the following situations:
the first phase information is 10 degrees and the second phase information is 11 degrees; but the second phase information is actually 360 more than the first phase information, the phase difference of the first phase information and the second phase information at this time is not greater than the phase difference threshold, but actually the phase difference of the two should be 361 °.
In order to avoid misjudgment caused by the occurrence of the above situation, a time difference threshold value may be set again, and it may be judged whether the first time difference between the first time stamp information and the second time stamp information is not greater than a preset time difference threshold value; the time difference threshold may be determined based on the rotation rate of the rotating shaft, for example: the time required for one rotation of the rotating shaft can be determined based on the rotation rate, and then the time difference threshold value can be determined based on the time required for one rotation; such as: if the time required for one rotation is 10ms, the time difference threshold may be set to 5ms, which is not limited by the embodiment of the present invention.
If the first time difference is not greater than the time difference threshold, it may be indicated that the first phase information and the second phase information are phase information for a rotating shaft of the same revolution.
If the first time difference is above the time difference threshold, it may be indicated that the first phase information and the second phase information are not phase information for a rotating shaft of the same revolution.
And step 206, outputting the first collected data and the second collected data when the phase difference between the first phase information and the second phase information is not larger than the phase difference threshold value and the first time difference is not larger than the time difference threshold value.
If the phase difference between the first phase information and the second phase information is not greater than the phase difference threshold and the first time difference is not greater than the time difference threshold, it may be indicated that the first collected data and the second collected data are collected for the target scene at the same time. At this time, the data detection system may output the first collected data and the second collected data to other systems for processing.
For example:
first phase information a, second phase information b, phase difference abs (a-b);
first time stamp information t1Second time stamp information t2First time difference abs (t)1-t2)；
Time difference threshold ts(ii) a A phase difference threshold v;
then if abs (a-b) ≦ tsAnd abs (t)1-t2) And if the value is less than or equal to v, outputting the first acquisition data and the second acquisition data.
In an embodiment of the present invention, the first phase information and the second phase information may be determined by:
determining first current position information of a rotating shaft which rotates according to the first acquisition data; determining second current position information of the rotating shaft rotating according to the second acquired data; determining first phase information according to the first current position information and preset initial position information; and determining second phase information according to the second current position information and the preset initial position information.
After the first acquisition data is acquired, determining first current position information of the rotating shaft which is rotating when the first acquisition equipment acquires the first acquisition data according to the first acquisition data; and determining second current position information of the rotating shaft which is rotating when the second acquisition equipment acquires the second acquisition data according to the second acquisition data.
Then, the position represented by the first current position information and an included angle represented by initial position information preset for the rotating shaft can be used as first phase information; meanwhile, the included angle between the position represented by the second current position information and the position represented by the initial position information can be used as the second phase information.
As shown in fig. 3, a first collection device 1 and a second collection device 2 are deployed in the vehicle 0; the first acquisition equipment 1 and the second acquisition equipment 2 acquire data aiming at a target scene comprising a rotating shaft 3;
a position 4 represented by the first current position information and an included angle alpha represented by initial position information 5 preset for the rotating shaft are used as first phase information;
the position 6 represented by the second current position information is set as second phase information with respect to the angle β represented by the initial position information 5 set in advance for the rotation axis.
In the embodiment of the invention, a first acquisition device and a second acquisition device are controlled to simultaneously acquire data of a target scene; acquiring first acquisition data acquired by first acquisition equipment and second acquisition data acquired by second acquisition equipment; the first acquisition equipment and the second acquisition equipment are connected with the data detection system, and first timestamp information of the data detection system is acquired when the first acquisition equipment acquires the first acquisition data; acquiring second timestamp information of the data detection system when second acquisition equipment acquires second acquisition data; determining a first time difference between the first time stamp information and the second time stamp information, and judging whether the first time difference is not greater than a time difference threshold value; and when the phase difference between the first phase information and the second phase information is not larger than the phase difference threshold value and the first time difference is not larger than the time difference threshold value, outputting the first collected data and the second collected data. According to the embodiment of the invention, whether the acquired data acquired by different acquisition devices are acquired at the same moment aiming at a scene or not is judged based on the phase difference of the phases corresponding to the data acquired by different acquisition devices and the time difference of the corresponding timestamps, and the synchronization of the output data acquired by different acquisition devices is further ensured.
Referring to fig. 4, a flow chart showing steps of a further data detection method according to an embodiment of the present invention is shown, wherein a first acquisition device and a second acquisition device are connected to a data detection system, the first acquisition device includes a radar sensor, and the second acquisition device includes an image sensor;
specifically, the method can comprise the following steps:
wherein, the first collecting device may refer to a radar sensor capable of emitting an electromagnetic wave, and the second collecting device may refer to an image sensor capable of photographing an image.
In practical application, the data detection system can firstly control the rotating shaft to rotate at a certain rotation rate; when the rotating shaft starts to rotate and is stabilized at a certain rotation rate, the data detection system can control the radar sensor to emit electromagnetic waves to the target scene.
The radar sensor may then generate first acquisition data based on the reflected electromagnetic waves. Since the target scene includes the rotating axis that is rotating, the first acquired data generated by the radar sensor capturing image actually includes data acquired for the rotating axis that is rotating.
meanwhile, the data detection system can control the image sensor to shoot a target scene while controlling the radar sensor so as to generate second acquisition data. Since the target scene includes the rotating axis that is rotating, the second acquired data captured by the image sensor actually includes data acquired for the rotating axis that is rotating.
after the radar sensor and the image sensor acquire the first acquisition data and the second acquisition data, the radar sensor and the image sensor can transmit the first acquisition data and the second acquisition data to the data detection system in real time.
Of course, the data detection system may also acquire the first collected data and the second collected data from the radar sensor and the image sensor in real time.
404, acquiring first timestamp information of a data detection system when the radar sensor acquires first acquired data;
in practical application, when the radar sensor acquires first acquired data, the data detection system can generate first timestamp information; the first timestamp information may refer to a system time of the data detection system when the radar sensor acquired the first acquired data.
in practical application, when the image sensor acquires second acquired data, the data detection system can generate second timestamp information; the second timestamp information may refer to a system time of the data detection system when the second collected data is collected by the image sensor.
then, a first time difference between the first time stamp information and the second time stamp information may be determined, and it is determined whether the first time difference is not greater than a preset time difference threshold.
If the first time difference is not greater than the time difference threshold, it may be indicated that the first phase information and the second phase information are phase information for a rotating shaft of the same revolution.
If the first time difference is above the time difference threshold, it may be indicated that the first phase information and the second phase information are not phase information for a rotating shaft of the same revolution.
if the phase difference between the first phase information and the second phase information is not greater than the phase difference threshold and the first time difference is not greater than the time difference threshold, it may be indicated that the first collected data and the second collected data are collected for the target scene at the same time. At this time, the data detection system may output the first collected data and the second collected data to other systems for processing.
the data detection system can control the radar sensor to continuously acquire data for a period of time by the image sensor; accordingly, the first acquisition data generated by the radar sensor may include a plurality of radar data, and the second acquisition data generated by the image sensor may also include a plurality of image data.
The third phase information may be one of the first phase information, and the fourth phase information may be one of the second phase information.
In practical applications, if the phase difference between the third phase information corresponding to the first radar data and the fourth phase information corresponding to the first image data is greater than the phase difference threshold, it may be indicated that the first radar data and the first image data are not data collected at the same time for the target scene.
At this time, in order to be able to output data acquired for the radar sensor and the image sensor at the same time for the target scene, current rotation rate information of the rotation shaft may be acquired, and the data acquired by the radar sensor and the data acquired by the image sensor may be synchronized based on the rotation rate information.
specifically, a second time difference between third phase information corresponding to the first radar data and fourth phase information corresponding to the first image data may be determined based on the rotation rate information; for example: if the third phase information is 3 °, the fourth phase information is 15 °, and the rotation rate information is 1 us/degree, it may be determined that the second time difference is 12us, which is not limited in this embodiment of the present invention.
wherein the fifth phase information may be one of the first phase information.
Then, radar data, corresponding to the first image data and acquired at the same time for the target scene, of which the phase difference between the fourth phase information corresponding to the first image data is not greater than a phase difference threshold value, may be acquired from the first acquired data; a phase difference between the fifth phase information and the fourth phase information of the second radar data is not greater than a phase difference threshold.
In an embodiment of the present invention, a time difference between the third timestamp information corresponding to the second radar data and the second timestamp information is also not greater than a time difference threshold, so as to avoid taking actually unsynchronized data as synchronized data, which is not limited in this embodiment of the present invention.
the data detection system may then output the second radar data and the first image data to the other system such that data acquired by different acquisition devices input to the other system is synchronized.
Step 412, acquiring second image data from the second acquired data according to the second time difference; the phase difference between sixth phase information corresponding to the second image data and third phase information corresponding to the first radar data is not greater than a phase difference threshold value;
of course, image data in which the phase difference between the third phase information corresponding to the first radar data is not greater than the phase difference threshold may also be acquired from the second acquired data as second image data corresponding to the first radar data and acquired at the same time for the target scene; a phase difference between the sixth phase information and the third phase information of the second image data is not greater than the phase difference threshold.
In an embodiment of the present invention, a time difference between the fourth timestamp information corresponding to the second image data and the first timestamp information is not greater than a time difference threshold, so as to avoid taking actually unsynchronized data as synchronized data, which is not limited in this embodiment of the present invention.
And step 413, outputting the second image data and the first radar data.
The data detection system may then output the second image data and the first radar data to the other system such that data acquired by different acquisition devices input to the other system is synchronized.
In the embodiment of the invention, a radar sensor is controlled to emit electromagnetic waves to a target scene so as to generate first acquisition data; simultaneously controlling the image sensor to shoot a target scene so as to generate second acquisition data; acquiring first acquisition data acquired by a radar sensor and second acquisition data acquired by an image sensor; acquiring first timestamp information of a data detection system when a radar sensor acquires first acquired data; acquiring second timestamp information of the data detection system when the image sensor acquires second acquired data; determining a first time difference between the first time stamp information and the second time stamp information, and judging whether the first time difference is not greater than a time difference threshold value; when the phase difference between the first phase information and the second phase information is not larger than a phase difference threshold value and the first time difference is not larger than a time difference threshold value, outputting first collected data and second collected data; the first acquisition data comprise at least two, the second acquisition data comprise at least two, the first acquisition data are radar data, and the second acquisition data are image data; when the phase difference between the third phase information corresponding to the first radar data and the fourth phase information corresponding to the first image data is larger than a phase difference threshold value, acquiring rotation rate information of the rotating shaft rotating; determining a second time difference between the third phase information and the fourth phase information according to the rotation rate information; acquiring second radar data from the first acquired data according to the second time difference; the phase difference between the fifth phase information corresponding to the second radar data and the fourth phase information corresponding to the first image data is not greater than a phase difference threshold value; outputting the second radar data and the first image data; acquiring second image data from the second acquisition data according to the second time difference; the phase difference between sixth phase information corresponding to the second image data and third phase information corresponding to the first radar data is not greater than a phase difference threshold value; the second image data and the first radar data are output. By the embodiment of the invention, when the data acquired by different acquisition equipment are asynchronous, the corresponding relation of the data acquired by different acquisition equipment is adjusted based on the phase difference, so that the output data are always synchronous.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 5, a schematic structural diagram of a data detection apparatus according to an embodiment of the present invention is shown, including the following modules:
the control module 501 is configured to control the first acquisition device and the second acquisition device to simultaneously acquire data of a target scene; the target scene comprises a rotating shaft which rotates;
an obtaining module 502, configured to obtain first collected data collected by a first collecting device and second collected data collected by a second collecting device;
the first output module 503 is configured to output the first collected data and the second collected data when a phase difference between the first phase information of the rotating shaft corresponding to the first collected data and the second phase information of the rotating shaft corresponding to the second collected data is not greater than a phase difference threshold.
In an alternative embodiment of the invention, the first acquisition device and the second acquisition device are connected to a data detection system,
a first output module 503, configured to obtain first timestamp information of the data detection system when the first acquisition device acquires the first acquisition data before outputting the first acquisition data and the second acquisition data; acquiring second timestamp information of the data detection system when second acquisition equipment acquires second acquisition data; determining a first time difference between the first time stamp information and the second time stamp information, and judging whether the first time difference is not greater than a time difference threshold value; and when the phase difference between the first phase information and the second phase information is not larger than the phase difference threshold value and the first time difference is not larger than the time difference threshold value, outputting the first collected data and the second collected data.
In an optional embodiment of the invention, the apparatus further comprises:
the phase information determining module is used for determining first current position information of the rotating shaft according to the first acquisition data; determining second current position information of the rotating shaft rotating according to the second acquired data; determining first phase information according to the first current position information and preset initial position information; and determining second phase information according to the second current position information and the preset initial position information.
In an optional embodiment of the present invention, the first collected data includes at least two, the second collected data includes at least two, the first collected data is radar data, and the second collected data is image data;
the device still includes:
a second output module, configured to acquire rotation rate information of the rotating shaft that is rotating when a phase difference between third phase information corresponding to the first radar data and fourth phase information corresponding to the first image data is greater than a phase difference threshold; determining a second time difference between the third phase information and the fourth phase information according to the rotation rate information; acquiring second radar data from the first acquired data according to the second time difference; the phase difference between the fifth phase information corresponding to the second radar data and the fourth phase information corresponding to the first image data is not greater than a phase difference threshold value; the second radar data and the first image data are output.
In an optional embodiment of the invention, the apparatus further comprises:
the third output module is used for acquiring second image data from the second acquisition data according to the second time difference; the phase difference between sixth phase information corresponding to the second image data and third phase information corresponding to the first radar data is not greater than a phase difference threshold value; the second image data and the first radar data are output.
In an alternative embodiment of the invention, the first acquisition device comprises a radar sensor and the second acquisition device comprises an image sensor;
the control module 501 includes:
the first control submodule is used for controlling the radar sensor to emit electromagnetic waves to a target scene so as to generate first acquisition data;
and the second control submodule is used for controlling the image sensor to shoot the target scene so as to generate second acquisition data.
In the embodiment of the invention, a first acquisition device and a second acquisition device are controlled to simultaneously acquire data of a target scene; the target scene comprises a rotating shaft which rotates; acquiring first acquisition data acquired by first acquisition equipment and second acquisition data acquired by second acquisition equipment; and when the phase difference between the first phase information of the rotating shaft corresponding to the first acquisition data and the second phase information of the rotating shaft corresponding to the second acquisition data is not greater than the phase difference threshold value, outputting the first acquisition data and the second acquisition data. According to the embodiment of the invention, whether the collected data collected by different collection equipment is the data collected at the same moment aiming at the scene or not is judged based on the rotating shaft rotating in the scene, and the data is output when the collected data is the data collected at the same moment aiming at the scene, so that the data collected by different collection equipment is ensured to be synchronous.
The embodiment of the invention also provides a vehicle, which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the above data detection method when being executed by the processor.
The embodiment of the invention also provides a computer readable storage medium, a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to realize the data detection method.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, 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. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The above detailed description is provided for a data detection method and apparatus, a vehicle and a storage medium, and the principle and the implementation of the present invention are explained herein by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for detecting data, the method comprising:
controlling a first acquisition device and a second acquisition device to simultaneously acquire data of a target scene; the target scene comprises a rotating shaft which rotates;
acquiring first acquisition data acquired by the first acquisition equipment and second acquisition data acquired by the second acquisition equipment;
and when the phase difference between the first phase information of the rotating shaft corresponding to the first acquisition data and the second phase information of the rotating shaft corresponding to the second acquisition data is not greater than a phase difference threshold value, outputting the first acquisition data and the second acquisition data.
2. The method of claim 1, wherein the first acquisition device and the second acquisition device are connected to a data detection system, and the outputting the first acquisition data and the second acquisition data when a phase difference between first phase information of a rotating shaft corresponding to the first acquisition data and second phase information of a rotating shaft corresponding to the second acquisition data is not greater than a phase difference threshold value comprises:
acquiring first timestamp information of the data detection system when the first acquisition equipment acquires first acquisition data;
acquiring second timestamp information of the data detection system when second acquisition equipment acquires second acquisition data;
determining a first time difference between the first time stamp information and the second time stamp information, and determining whether the first time difference is not greater than a time difference threshold;
outputting the first collected data and the second collected data when a phase difference between the first phase information and the second phase information is not greater than a phase difference threshold and the first time difference is not greater than the time difference threshold.
3. The method of claim 1, further comprising:
determining first current position information of the rotating shaft according to the first acquisition data;
determining second current position information of the rotating shaft according to the second acquired data;
determining the first phase information according to the first current position information and preset initial position information;
and determining the second phase information according to the second current position information and the preset initial position information.
4. The method according to any one of claims 1-3, wherein the first acquisition data comprises at least two, the second acquisition data comprises at least two, the first acquisition data is radar data, and the second acquisition data is image data;
the method further comprises the following steps:
when the phase difference between the third phase information corresponding to the first radar data and the fourth phase information corresponding to the first image data is larger than the phase difference threshold value, acquiring rotation rate information of the rotating shaft;
determining a second time difference between the third phase information and the fourth phase information according to the rotation rate information;
acquiring second radar data from the first acquired data according to the second time difference; a phase difference between fifth phase information corresponding to the second radar data and fourth phase information corresponding to the first image data is not greater than a phase difference threshold;
outputting the second radar data and the first image data.
5. The method of claim 4, further comprising:
acquiring second image data from the second acquisition data according to the second time difference; a phase difference between sixth phase information corresponding to the second image data and third phase information corresponding to the first radar data is not greater than a phase difference threshold;
outputting the second image data and the first radar data.
6. The method of claim 1 or 2 or 3 or 5, wherein the first acquisition device comprises a radar sensor and the second acquisition device comprises an image sensor;
the control of the first acquisition device and the second acquisition device to simultaneously acquire data of the target scene comprises the following steps:
controlling the radar sensor to emit electromagnetic waves to the target scene to generate first acquisition data;
and controlling the image sensor to shoot the target scene to generate second acquisition data.
7. An apparatus for detecting data, the apparatus comprising:
the control module is used for controlling the first acquisition equipment and the second acquisition equipment to simultaneously acquire data of a target scene; the target scene comprises a rotating shaft which rotates;
the acquisition module is used for acquiring first acquisition data acquired by the first acquisition equipment and second acquisition data acquired by the second acquisition equipment;
the first output module is used for outputting the first collected data and the second collected data when a phase difference between first phase information of the rotating shaft corresponding to the first collected data and second phase information of the rotating shaft corresponding to the second collected data is not greater than a phase difference threshold value.
8. The apparatus of claim 7, wherein the first acquisition device and the second acquisition device are connected to a data detection system,
the first output module is used for acquiring first timestamp information of the data detection system when the first acquisition equipment acquires first acquisition data before outputting the first acquisition data and the second acquisition data; acquiring second timestamp information of the data detection system when second acquisition equipment acquires second acquisition data; determining a first time difference between the first time stamp information and the second time stamp information, and determining whether the first time difference is not greater than a time difference threshold; outputting the first collected data and the second collected data when a phase difference between the first phase information and the second phase information is not greater than a phase difference threshold and the first time difference is not greater than the time difference threshold.
9. A vehicle comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the computer program, when executed by the processor, implementing a method of detecting data as claimed in any one of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of detecting data according to any one of claims 1 to 6.
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