CN115168790A - Information determination method, device, equipment and computer storage medium - Google Patents

Information determination method, device, equipment and computer storage medium Download PDF

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CN115168790A
CN115168790A CN202210648608.XA CN202210648608A CN115168790A CN 115168790 A CN115168790 A CN 115168790A CN 202210648608 A CN202210648608 A CN 202210648608A CN 115168790 A CN115168790 A CN 115168790A
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information
parameter information
detected
detection time
correlation coefficient
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刘振宇
张星
王星芳
范永健
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Beijing Jingwei Hirain Tech Co Ltd
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Beijing Jingwei Hirain Tech Co Ltd
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    • G06F17/15—Correlation function computation including computation of convolution operations
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Abstract

The embodiment of the application provides an information determination method, an information determination device, information determination equipment and a computer storage medium, wherein the information determination method comprises the steps of obtaining first detection time detected by a vehicle-mounted target detection system and first parameter information of a detected first object, and second detection time detected by a truth value system and second parameter information of a detected second object; calculating a correlation coefficient of the first parameter information and the second parameter information based on the first detection time and the second detection time; when the correlation coefficient of the first parameter information and the correlation coefficient of the second parameter information are larger than the preset correlation coefficient threshold, the first object of the first parameter information and the second object corresponding to the second parameter information are determined to be objects with corresponding relations, and the target corresponding relations are obtained.

Description

Information determination method, device, equipment and computer storage medium
Technical Field
The application belongs to the technical field of automobile three-dimensional target evaluation, and particularly relates to an information determination method, device and equipment and a computer storage medium.
Background
At present, in the process of evaluating three-dimensional targets of an automobile, a vehicle-mounted target detection system and a test truth value system both detect data parameters of a plurality of three-dimensional targets and form data records, each real three-dimensional target respectively leaves one data record in the 2 detection systems, but people do not know which 2 data records correspond to the real three-dimensional target. Finding the corresponding relation between the vehicle-mounted target detection system and the target object detected by the test truth value system is the basis for the automobile three-dimensional target evaluation.
In the prior art, a special detection scenario is mainly used to determine a corresponding relationship between a vehicle-mounted target detection system and a target object detected by a test truth system, for example, if another test vehicle is used as a target object to be detected in a test field, the corresponding relationship between the target object in the two detection systems is known, and then the test truth system is used to evaluate parameters of the target object detected by the vehicle-mounted target detection system. The method in the prior art cannot obtain detection data under different parameter combinations, and has high cost and low efficiency.
Disclosure of Invention
The embodiment of the application provides an information determination method, an information determination device, information determination equipment and a computer storage medium, and can solve the problems that different actual working condition combinations cannot be obtained, the cost is high and the efficiency is low in the prior art.
In a first aspect, an embodiment of the present application provides an information determining method, where the method includes:
acquiring first information detected by a vehicle-mounted target detection system and second information detected by a truth value system; wherein the first information comprises a first detection time, and detected first parameter information comprising at least one of a first distance and a heading angle of a target vehicle from a first object; the second information comprises a second detection time and detected second parameter information, and the second parameter information comprises at least one of a second distance and a course angle between the target vehicle and a second object;
calculating a correlation coefficient of the first parameter information and the second parameter information based on the first detection time and the second detection time;
and when the correlation coefficient of the first parameter information and the second parameter information is larger than a preset correlation coefficient threshold, determining a first object of the first parameter information and a second object corresponding to the second parameter information as objects with a corresponding relationship, and obtaining a target corresponding relationship.
In one embodiment, the acquiring first information detected by an on-board object detection system and second information detected by a truth system includes:
acquiring third information detected by a vehicle-mounted target detection system and fourth information detected by a truth value system, wherein the third information comprises the times of the detected first parameter information, and the fourth information comprises the times of the detected second parameter information;
when the detected times of the first parameter information are larger than a preset threshold value, determining the third information as the first information;
and when the detected times of the second parameter information are larger than the preset threshold value, determining the fourth information as the second information.
In one embodiment, the calculating a correlation coefficient of the first parameter information and the second parameter information based on the first detection time and the second detection time includes:
and calculating the correlation coefficient of the first parameter information and the second parameter information in the same time period in the first detection time and the second detection time.
In one embodiment, the first detection time and the second detection time comprise time of day; the calculating a correlation coefficient of the first parameter information and the second parameter information based on the first detection time and the second detection time further includes:
calculating parameter information of the information with the short detection period at the moment by using the moment of detecting the information with the long detection period in the first information and the second information as a reference through an interpolation method to obtain the first information and the second information corresponding to the moment;
and calculating a correlation coefficient of the first parameter information and the second parameter information based on the time, the first parameter information at the time in the first information, and the second parameter information at the time in the second information.
In an embodiment, when the correlation coefficient of the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, determining the first object of the first parameter information and the second object corresponding to the second parameter information as objects having a correspondence relationship, and obtaining the target correspondence relationship includes:
determining a first object corresponding to the first parameter information and a second object corresponding to the second parameter information as objects having a corresponding relationship under the condition that the first object and/or the second object are/is multiple, so as to obtain a first corresponding relationship;
and deleting the corresponding relation of a plurality of first objects and/or a plurality of second objects in the first corresponding relation to obtain the target corresponding relation.
In one embodiment, the target correspondence includes an identification of the first object and the second object.
In a second aspect, an embodiment of the present application provides an information determining apparatus, including:
the acquisition module is used for acquiring first information detected by a vehicle-mounted target detection system and second information detected by a truth value system; wherein the first information comprises a first detection time, and detected first parameter information comprising at least one of a first distance and a heading angle of a target vehicle from a first object; the second information comprises a second detection time and detected second parameter information, wherein the second parameter information comprises at least one of a second distance and a course angle between the target vehicle and a second object;
a calculation module, configured to calculate a correlation coefficient between the first parameter information and the second parameter information based on the first detection time and the second detection time;
and the determining module is used for determining a first object of the first parameter information and a second object corresponding to the second parameter information as objects with corresponding relations when the correlation coefficient of the first parameter information and the second parameter information is larger than a preset correlation coefficient threshold value, so as to obtain a target corresponding relation.
In one embodiment, the acquiring module is further configured to acquire third information detected by the vehicle-mounted object detection system, and fourth information detected by the truth value system, where the third information includes the number of times of detecting the first parameter information, and the fourth information includes the number of times of detecting the second parameter information;
the determining module is further configured to determine the third information as the first information when the number of times of detecting the first parameter information is greater than a preset threshold;
the determining module is further configured to determine the fourth information as the second information when the number of times of detecting the second parameter information is greater than the preset threshold.
In an embodiment, the calculating module is further configured to calculate a correlation coefficient between the first parameter information and the second parameter information in the same time period in the first detection time and the second detection time.
In one embodiment, the first detection time and the second detection time comprise time of day;
the calculation module is further configured to calculate, by using a time of the information with the longer detection period in the first information and the second information as a reference, parameter information of the information with the shorter detection period at the time by using an interpolation method, so as to obtain the first information and the second information corresponding to the time;
the calculation module is further configured to calculate a correlation coefficient between the first parameter information and the second parameter information based on the time, the first parameter information at the time in the first information, and the second parameter information at the time in the second information.
In one embodiment, the information determining apparatus further comprises a deletion module;
the determining module is further configured to determine, as objects having a correspondence relationship, a first object corresponding to the first parameter information and a second object corresponding to the second parameter information when the first object and/or the second object are multiple, so as to obtain a first correspondence relationship;
and the deleting module is used for deleting the corresponding relation of a plurality of first objects and/or a plurality of second objects in the first corresponding relation to obtain the target corresponding relation.
In one embodiment, the target correspondence includes an identification of the first object and the second object.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory storing computer program instructions;
the processor, when executing the computer program instructions, implements the information determination method as described in any of the embodiments of the first aspect.
In a fourth aspect, the present application provides a computer storage medium having computer program instructions stored thereon, where the computer program instructions, when executed by a processor, implement the information determination method as described in any one of the embodiments of the first aspect.
In a fifth aspect, the present application provides a computer program product, and when executed by a processor of an electronic device, the instructions of the computer program product cause the electronic device to perform the information determination method described in any embodiment of the first aspect.
According to the information determination method, the information determination device, the information determination equipment and the computer storage medium, the first information detected by the vehicle-mounted target detection system is obtained, the first information comprises the first detection time and the detected first parameter information, the second information detected by the truth value system is obtained, the second information comprises the second detection time and the detected second parameter information, and the first parameter information and the second parameter information comprise at least one of the distance between the target vehicle and the detected object and the course angle, so that the first parameter information and the second parameter information can be used as signals for correlation analysis and used for matching the first object and the second object. Then, based on the first detection time and the second detection time, correlation coefficients of the first parameter information and the second parameter information are calculated, when the correlation coefficients of the first parameter information and the second parameter information are larger than a preset correlation coefficient threshold value, a first object of the first parameter information and a second object corresponding to the second parameter information are determined to be objects with corresponding relations, and a target corresponding relation is obtained.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly described below, and for those skilled in the art, other drawings may be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of an information determination method according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a variation of a detection signal of the system according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating interpolation of detection results according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an information determination apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Features of various aspects and exemplary embodiments of the present application will be described in detail below, and in order to make objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of, and not restrictive on, the present application. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by illustrating examples thereof.
It is 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 apparatus 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 apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" comprises 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
As described in the background art, in the process of evaluating a three-dimensional target of an automobile, a plurality of target objects are detected by both the vehicle-mounted target detection system and the test truth system in the test process, and finding the corresponding relationship between the target objects is the basis for evaluating a sensor on the vehicle. In general, a special detection scene is used to meet the requirement, for example, another test vehicle is used as a target object to be detected in a test field, however, this method has the problems that different actual working condition combinations (various different types of three-dimensional target parameter change combinations under high/low vehicle speed) cannot be obtained, and the cost is high and the efficiency is low.
In order to solve the above problem, embodiments of the present application provide an information determination method, an apparatus, a device, and a computer storage medium, where the information determination method may include
By acquiring first information detected by a vehicle-mounted target detection system, wherein the first information comprises first detection time and detected first parameter information, and acquiring second information detected by a truth value system, the second information comprises second detection time and detected second parameter information, and the first parameter information and the second parameter information comprise at least one of the distance between a target vehicle and a detected object and the course angle, the first parameter information and the second parameter information can be used as signals of correlation analysis and used for matching the first object and the second object. Then, based on the first detection time and the second detection time, calculating correlation coefficients of the first parameter information and the second parameter information, and when the correlation coefficients of the first parameter information and the second parameter information are larger than a preset correlation coefficient threshold, determining a first object of the first parameter information and a second object corresponding to the second parameter information as objects having a corresponding relationship to obtain a target corresponding relationship. First, a method for determining information provided in an embodiment of the present application is described below.
Fig. 1 shows a flowchart of an information determination method according to an embodiment of the present application.
As shown in fig. 1, the information determining method may specifically include the following steps:
s110, first information detected by the vehicle-mounted target detection system and second information detected by the truth value system are obtained.
Wherein the first information may include a first detection time, and detected first parameter information, which may include at least one of a first distance and a heading angle of the target vehicle from the first object; the second information may include a second detection time, and detected second parameter information including at least one of a second distance and a heading angle of the target vehicle from the second object.
The vehicle-mounted target detection system may be a system capable of detecting a distance between a target vehicle and an object to be detected, which is mounted in the target vehicle, and the truth value system may be a test truth value system for detecting a distance between a target vehicle and an object to be detected on the target vehicle, wherein the target vehicle is a test vehicle for a road test.
The first detection time may include a detection period and a time at which the first parameter information is periodically detected, and a time period during which the first object is detected. The second detection time may include a detection period and a time at which the second parameter information is periodically detected, and a period of time during which the second object is detected. The first object and the second object may be any three-dimensional detected object such as a detected pedestrian, a detected vehicle, a detected obstacle, and the like, and may be one or a plurality of objects. The first distance may be a longitudinal or lateral distance of the target vehicle from the first object and the second distance may be a longitudinal or lateral distance of the target vehicle from the second object.
As an example, the on-board object detection system and the test truth system are 2 independent detection systems on a test vehicle for road testing. In the detection process, the longitudinal distance between the test vehicle and the tested object A detected by the vehicle-mounted target detection system and the time when the longitudinal distance is periodically detected are obtained, and the longitudinal distance between the test vehicle and the tested object B detected by the test truth value system and the time when the longitudinal distance is periodically detected are obtained and serve as data of correlation analysis between the tested object A and the tested object B. In addition, instead of the lateral distance or the longitudinal distance, a heading angle, a length of the object to be measured, a width of the object to be measured, a height of the object to be measured, and the like may be used as signals for the correlation analysis between the objects to be measured.
And S120, calculating a correlation coefficient of the first parameter information and the second parameter information based on the first detection time and the second detection time.
The first detection time and the second detection time may include the same time, and the calculating of the correlation coefficient of the first parameter information and the second parameter information may be calculating the correlation coefficient between the first parameter information and the second parameter information based on the first parameter information and the second parameter information corresponding to each of the same time, where the correlation coefficient is used as a statistical indicator reflecting the closeness of the correlation between the variables, and for example, the linear correlation coefficient of the first parameter information and the second parameter information may be calculated by product difference.
And S130, when the correlation coefficient of the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, determining the first object of the first parameter information and the second object corresponding to the second parameter information as objects with corresponding relations, and obtaining a target corresponding relation.
The preset correlation coefficient threshold may be a threshold preset by a user as needed, and for example, may be 0.9, and if the correlation coefficient between the first parameter information and the second parameter information is greater than the preset correlation coefficient threshold, the first object corresponding to the first parameter information and the second object corresponding to the second parameter information are objects having a corresponding relationship.
As an example, when a correlation coefficient between the object a detected by the in-vehicle object detection system and the object B detected by the test truth system is greater than 0.9, the object a and the object B are objects having a correspondence relationship.
In the embodiment of the application, by acquiring first information detected by a vehicle-mounted target detection system, the first information including first detection time and detected first parameter information, and acquiring second information detected by a truth value system, the second information including second detection time and detected second parameter information, and the first parameter information and the second parameter information including at least one of a distance and a course angle between a target vehicle and a detected object, the first parameter information and the second parameter information can be used as signals for correlation analysis to match the first object and the second object. Then, based on the first detection time and the second detection time, calculating correlation coefficients of the first parameter information and the second parameter information, and when the correlation coefficients of the first parameter information and the second parameter information are larger than a preset correlation coefficient threshold, determining a first object of the first parameter information and a second object corresponding to the second parameter information as objects having a corresponding relationship to obtain a target corresponding relationship.
In some embodiments, S110 may specifically include:
acquiring third information detected by a vehicle-mounted target detection system and fourth information detected by a truth value system, wherein the third information can comprise the times of detecting first parameter information, and the fourth information can comprise the times of detecting second parameter information;
when the detected times of the first parameter information are larger than a preset threshold value, determining the third information as the first information;
and when the number of times of the detected second parameter information is greater than a preset threshold value, determining the fourth information as the second information.
The third information may be information periodically detected by the in-vehicle object detection system, and the third information may include the number of times the first parameter information is detected, and a time at which the first parameter information is detected each time. The fourth information may be information periodically detected by a system in real time, and the fourth information may include the number of times the second parameter information is detected and the time at which the second parameter information is detected each time. The preset threshold may be a threshold of the number of times preset by the user as needed, and may be, for example, 100 times.
As an example, the correlation analysis needs a sufficient sample size to ensure that the overall correlation degree is reflected more accurately, and obtains data of the object under test detected by the vehicle-mounted target detection system and the test truth system, where the data includes the longitudinal distance between the test vehicle and the object under test, and the time points at which the longitudinal distance is detected periodically, and each time point corresponds to a sample of the detected longitudinal distance. And screening the data of the object with the sample number larger than 100 in the data of the object to be tested for subsequent correlation analysis, for example, if the running speed of the object to be tested A is high, and the number of samples for periodically detecting the longitudinal distance between the test vehicle and the object to be tested A is small and the number of samples is smaller than 100, deleting the data of the object to be tested A.
In the embodiment of the application, by acquiring third information detected by a vehicle-mounted target detection system and fourth information detected by a truth value system, the third information may include the number of times of detecting first parameter information, and the fourth information may include the number of times of detecting second parameter information. Then, when the number of times of detecting the first parameter information is greater than a preset threshold, the third information is determined as the first information, and when the number of times of detecting the second parameter information is greater than the preset threshold, the fourth information is determined as the second information. Therefore, information with more times of the detected first parameter information and second parameter information can be screened, and the corresponding relation of the object can be determined more accurately.
In some embodiments, S120 may specifically include:
and calculating the correlation coefficient of the first parameter information and the second parameter information in the same time period in the first detection time and the second detection time.
Because the vehicle-mounted target detection system and the truth-value system may have different installation positions and different detected view angles, and the parameter information which can be covered and detected by the two systems are different, for example, the detected effective distances are different, the time periods of the first object and the second object detected by the two systems do not completely correspond to each other, and the first parameter information and the second parameter information of the same time period in the first detection time and the second detection time need to be acquired to calculate the correlation coefficient.
As an example, as shown in fig. 2, the vehicle-mounted target detection system detects that the signal of the distance between the test vehicle and the measured object is a vehicle detection signal, and the signal of the distance between the test vehicle and the measured object detected by the truth value system is a truth value signal, and obtains data of a time intersection portion of the signals detected by the vehicle-mounted target detection system and the truth value system for correlation analysis.
In the embodiment of the application, by calculating the correlation coefficient of the first parameter information and the second parameter information in the same time period in the first detection time and the second detection time, the information in the same time period in the first information and the second information can be screened out, so that the subsequent correlation analysis between the objects is facilitated.
In some embodiments, the first detection time and the second detection time may include time of day; s120 may further include:
calculating parameter information of the information with the short detection period at the moment by using the moment of the information with the long detection period in the first information and the second information as a reference through an interpolation method to obtain first information and second information corresponding to the moment;
and calculating a correlation coefficient of the first parameter information and the second parameter information based on the time, the first parameter information at the time in the first information, and the second parameter information at the time in the second information.
The detection periods of the on-vehicle object detection system and the real value system may be set in advance, and may be, for example, 50ms. The correlation coefficient between the first parameter information and the second parameter information is calculated by interpolation using, as a reference, a time of detecting information having a long detection cycle out of the first information and the second information detected by the in-vehicle object detection system and the truth value system, the parameter information at the time of detecting information having a short detection cycle out of the information having a short detection cycle, and the correlation coefficient between the first parameter information and the second parameter information based on the second parameter information at the time of detecting the first information and the second information out of the first information and the second information.
As an example, as shown in fig. 3, the graph shows the variation curves of the longitudinal distance between the test vehicle and the measured object detected by the vehicle-mounted target detection system and the true value system, the detection period of the vehicle-mounted target detection system is short, and the detection period of the true value system is long, so that the time of the detected signal of the longitudinal distance does not correspond, and the correlation coefficient between the two signals cannot be directly calculated. Based on the time of the longitudinal distance with a longer detection period, that is, based on the time of the longitudinal distance detected by the truth value system, the signal values of the longitudinal distance detected by the vehicle-mounted target detection system at these times, that is, the interpolation points in fig. 3, are calculated through interpolation, so that two sets of data which are completely corresponding to each other at the time point and can calculate the correlation coefficient can be constructed. Based on the time when the longitudinal distance is detected by the system in truth, the correlation coefficient of the longitudinal distance detected by the two systems at the time is calculated.
In the embodiment of the application, the time of the information with a longer detection period in the first information and the second information is taken as a reference, the parameter information of the information with a shorter detection period at the time is calculated by an interpolation method to obtain the first information and the second information corresponding to the time, and the correlation coefficient of the first parameter information and the second parameter information is calculated based on the time, the first parameter information at the time in the first information and the second parameter information at the time in the second information.
In some embodiments, S130 may specifically include:
determining a first object corresponding to the first parameter information and a second object corresponding to the second parameter information as objects having a corresponding relationship under the condition that the first object and/or the second object are/is multiple, so as to obtain a first corresponding relationship;
and deleting the corresponding relation of a plurality of first objects and/or a plurality of second objects in the first corresponding relation to obtain the target corresponding relation.
The first corresponding relationship may be a determined corresponding relationship when there are a plurality of first objects and/or second objects, and the first corresponding relationship may be a one-to-one matching result or a one-to-many matching result. And if the first corresponding relation comprises a plurality of first objects and/or a plurality of second objects, deleting the first corresponding relation if the first corresponding relation is a one-to-many matching result.
As an example, in a case where a road is congested, a plurality of objects to be tested (vehicles to be tested) may be in a slow low-speed running condition, a longitudinal distance between the test vehicle and the object a detected by the vehicle-mounted target detection system is closer to a change rule of the longitudinal distance between the test vehicle and the object B detected by the truth system, and matching between the objects to be tested using correlation analysis may occur in a case where one object a is matched to a plurality of objects to be tested B or a case where one object B is matched to a plurality of objects to be tested a. This situation also occurs when there are multiple stationary objects to be tested around the test vehicle. Such one-to-many matching results are deleted in order to obtain accurate and reliable matching results.
In the embodiment of the application, when a plurality of first objects and/or second objects are provided, the first objects corresponding to the first parameter information and the second objects corresponding to the second parameter information are determined as objects having a corresponding relationship to obtain the first corresponding relationship, and then the corresponding relationship of the plurality of first objects and/or the plurality of second objects in the first corresponding relationship is deleted to obtain the target corresponding relationship, so that the reliability of determining the corresponding relationship between the objects can be improved.
In some embodiments, the target correspondence may include an identification of the first object and the second object.
The identification may be information such as letters, symbols, numbers, etc. that can uniquely mark the first object and the second object.
As an example, in the detection process of the vehicle-mounted target detection system and the real value system, 2 detection systems respectively assign an independent Identifier (ID) to each identical measured object, and after matching the measured objects to obtain a corresponding relationship, the corresponding relationship includes a pair list of the measured object ID detected by the vehicle-mounted target detection system and the measured object ID detected by the real value system.
In the embodiment of the application, the corresponding relation between the first object and the second object is convenient to identify through the identification of the first object and the second object in the target corresponding relation, and the subsequent automobile three-dimensional target evaluation is convenient.
Fig. 4 is a schematic diagram illustrating a structure of an information determination apparatus 400 according to an example embodiment.
As shown in fig. 4, the information determining apparatus 400 may include:
an obtaining module 401, configured to obtain first information detected by a vehicle-mounted target detection system and second information detected by a truth value system; wherein the first information comprises a first detection time, and detected first parameter information comprising at least one of a first distance and a heading angle of the target vehicle from the first object; the second information comprises a second detection time and detected second parameter information, and the second parameter information comprises at least one of a second distance and a course angle between the target vehicle and a second object;
a calculating module 402, configured to calculate a correlation coefficient between the first parameter information and the second parameter information based on the first detection time and the second detection time;
the determining module 403 is configured to determine, when a correlation coefficient of the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, a first object of the first parameter information and a second object corresponding to the second parameter information as objects having a corresponding relationship, so as to obtain a target corresponding relationship.
In one embodiment, the obtaining module 401 is further configured to obtain third information detected by the vehicle-mounted object detection system, and fourth information detected by the truth-value system, where the third information includes the number of times of detecting the first parameter information, and the fourth information includes the number of times of detecting the second parameter information;
the determining module 403 is further configured to determine the third information as the first information when the number of times of detecting the first parameter information is greater than a preset threshold;
the determining module 403 is further configured to determine the fourth information as the second information when the number of times of detecting the second parameter information is greater than the preset threshold.
In an embodiment, the calculating module 402 is further configured to calculate a correlation coefficient between the first parameter information and the second parameter information in the same time period in the first detection time and the second detection time.
In one embodiment, the first detection time and the second detection time comprise time of day;
the calculating module 402 is further configured to calculate, by using a time of information with a longer detection period in the first information and the second information as a reference, parameter information of information with a shorter detection period at the time by using an interpolation method, so as to obtain the first information and the second information corresponding to the time;
the calculating module 402 is further configured to calculate a correlation coefficient between the first parameter information and the second parameter information based on the time, the first parameter information at the time in the first information, and the second parameter information at the time in the second information.
In one embodiment, the information determining apparatus 400 may further include a deletion module;
the determining module 403 is further configured to determine, as objects having a corresponding relationship, a first object corresponding to the first parameter information and a second object corresponding to the second parameter information when the first object and/or the second object are multiple, so as to obtain a first corresponding relationship;
and the deleting module is used for deleting the corresponding relation of a plurality of first objects and/or a plurality of second objects in the first corresponding relation to obtain the target corresponding relation.
In one embodiment, the target correspondence may include an identification of the first object and the second object.
Therefore, by acquiring first information detected by the vehicle-mounted target detection system, the first information including first detection time and detected first parameter information, and acquiring second information detected by the truth value system, the second information including second detection time and detected second parameter information, the first parameter information and the second parameter information including at least one of distance and course angle between the target vehicle and the detected object, the first parameter information and the second parameter information can be used as signals of correlation analysis for matching the first object and the second object. Then, based on the first detection time and the second detection time, calculating a correlation coefficient of the first parameter information and the second parameter information, and when the correlation coefficient of the first parameter information and the second parameter information is larger than a preset correlation coefficient threshold, determining a first object of the first parameter information and a second object corresponding to the second parameter information as objects having a corresponding relationship to obtain a target corresponding relationship.
Fig. 5 shows a hardware schematic diagram of an electronic device provided in an embodiment of the present application.
The electronic device may comprise a processor 501 and a memory 502 in which computer program instructions are stored.
Specifically, the processor 501 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.
Memory 502 may include mass storage for data or instructions. By way of example, and not limitation, memory 502 may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 502 may include removable or non-removable (or fixed) media, where appropriate. The memory 502 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 502 is non-volatile solid-state memory.
The memory may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors), it is operable to perform operations described with reference to the methods according to an aspect of the present disclosure.
The processor 501 reads and executes the computer program instructions stored in the memory 502 to implement any one of the information determination methods in the above embodiments.
In one example, the electronic device can also include a communication interface 503 and a bus 510. As shown in fig. 5, the processor 501, the memory 502, and the communication interface 503 are connected to each other through a bus 510 to complete communication therebetween.
The communication interface 503 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the embodiments of the present application.
Bus 510 includes hardware, software, or both to couple the components of the information determination device to each other. By way of example, and not limitation, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hypertransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. Bus 510 may include one or more buses, where appropriate. Although specific buses are described and shown in the embodiments of the application, any suitable buses or interconnects are contemplated by the application.
The electronic device may execute the information determination method in the embodiment of the present application based on acquiring first information detected by the vehicle-mounted object detection system and second information detected by the truth system, thereby implementing the information determination method described in conjunction with fig. 1.
In addition, in combination with the information determination method in the foregoing embodiments, the embodiments of the present application may be implemented by providing a computer storage medium. The computer storage medium having computer program instructions stored thereon; the computer program instructions, when executed by a processor, implement any of the information determination methods in the above embodiments.
It is to be understood that the present application is not limited to the particular arrangements and instrumentality described above and shown in the attached drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications, and additions or change the order between the steps after comprehending the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the present application are the programs or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include an electronic circuit, a semiconductor memory device, a ROM, a flash memory, an Erasable ROM (EROM), a floppy disk, a CD-ROM, an optical disk, a hard disk, an optical fiber medium, a Radio Frequency (RF) link, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed at the same time.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations 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, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based computer instructions which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As described above, only the specific embodiments of the present application are provided, and it can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered within the scope of the present application.

Claims (10)

1. An information determination method, comprising:
acquiring first information detected by a vehicle-mounted target detection system and second information detected by a truth value system; wherein the first information comprises a first detection time, and detected first parameter information comprising at least one of a first distance and a heading angle of the target vehicle from the first object; the second information comprises a second detection time and detected second parameter information, wherein the second parameter information comprises at least one of a second distance and a course angle between the target vehicle and a second object;
calculating a correlation coefficient of the first parameter information and the second parameter information based on the first detection time and the second detection time;
and when the correlation coefficient of the first parameter information and the second parameter information is larger than a preset correlation coefficient threshold, determining a first object of the first parameter information and a second object corresponding to the second parameter information as objects with a corresponding relationship, and obtaining a target corresponding relationship.
2. The method of claim 1, wherein the obtaining first information detected by an on-board object detection system and second information detected by a truth system comprises:
acquiring third information detected by a vehicle-mounted target detection system and fourth information detected by a truth value system, wherein the third information comprises the times of detecting first parameter information, and the fourth information comprises the times of detecting second parameter information;
when the detected times of the first parameter information are larger than a preset threshold value, determining the third information as the first information;
and when the detected times of the second parameter information are larger than the preset threshold value, determining the fourth information as the second information.
3. The method of claim 1, wherein the calculating a correlation coefficient of the first parameter information and the second parameter information based on the first detection time and the second detection time comprises:
and calculating the correlation coefficient of the first parameter information and the second parameter information in the same time period in the first detection time and the second detection time.
4. The method of claim 1, wherein the first detection time and the second detection time comprise time of day; the calculating a correlation coefficient of the first parameter information and the second parameter information based on the first detection time and the second detection time further includes:
calculating parameter information of the information with the short detection period at the moment by using the moment of the information with the long detection period in the first information and the second information as a reference through an interpolation method to obtain the first information and the second information corresponding to the moment;
and calculating a correlation coefficient of the first parameter information and the second parameter information based on the time, the first parameter information at the time in the first information, and the second parameter information at the time in the second information.
5. The method according to claim 1, wherein when the correlation coefficient of the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, determining the first object of the first parameter information and the second object corresponding to the second parameter information as objects having a correspondence relationship, and obtaining the target correspondence relationship comprises:
determining a first object corresponding to the first parameter information and a second object corresponding to the second parameter information as objects having a corresponding relationship under the condition that the first object and/or the second object are/is multiple, so as to obtain a first corresponding relationship;
and deleting the corresponding relation of a plurality of first objects and/or a plurality of second objects in the first corresponding relation to obtain the target corresponding relation.
6. The method of claim 1, wherein the target correspondence comprises an identification of the first object and the second object.
7. An information determination apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring first information detected by a vehicle-mounted target detection system and second information detected by a truth value system; wherein the first information comprises a first detection time, and detected first parameter information comprising at least one of a first distance and a heading angle of a target vehicle from a first object; the second information comprises a second detection time and detected second parameter information, wherein the second parameter information comprises at least one of a second distance and a course angle between the target vehicle and a second object;
a calculation module, configured to calculate a correlation coefficient between the first parameter information and the second parameter information based on the first detection time and the second detection time;
and the determining module is used for determining a first object of the first parameter information and a second object corresponding to the second parameter information as objects with corresponding relations when the correlation coefficient of the first parameter information and the second parameter information is larger than a preset correlation coefficient threshold value, so as to obtain a target corresponding relation.
8. An electronic device, characterized in that the device comprises: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the information determination method of any one of claims 1-6.
9. A computer storage medium, characterized in that the computer storage medium has stored thereon computer program instructions which, when executed by a processor, implement the information determination method according to any one of claims 1-6.
10. A computer program product, wherein instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform the information determination method of any one of claims 1-6.
CN202210648608.XA 2022-06-09 2022-06-09 Information determination method, device, equipment and computer storage medium Pending CN115168790A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210648608.XA CN115168790A (en) 2022-06-09 2022-06-09 Information determination method, device, equipment and computer storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210648608.XA CN115168790A (en) 2022-06-09 2022-06-09 Information determination method, device, equipment and computer storage medium

Publications (1)

Publication Number Publication Date
CN115168790A true CN115168790A (en) 2022-10-11

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