A data detection method and device, vehicle and storage medium

Abstract

The embodiment of the present invention provides a data detection method and device, a vehicle and a storage medium; including: controlling a first acquisition device and a second acquisition device to simultaneously acquire data from a target scene; the target scene includes a rotating shaft that is rotating; acquiring first acquisition data acquired by the first acquisition device and second acquisition data acquired by the second acquisition device; 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, outputting the first acquisition data and the second acquisition data. Through the embodiment of the present invention, it is possible to determine whether the acquisition data acquired by different acquisition devices is data acquired at the same time for the scene based on the rotating shaft that is rotating in the scene, and output the data when it is data acquired at the same time for the scene, thereby ensuring that the output data acquired by different acquisition devices are synchronized.

Description

Technical Field

[0001] The present invention relates to the technical field of data detection, and in particular to a data detection method and device, a vehicle and a storage medium. Background Art

[0002] In recent years, with the rapid development of the automobile industry and the improvement of technology, the market and users have gradually increased their requirements for automobiles. In order to further improve the driving comfort of users, many automobile manufacturers have conducted relevant research on self-driving vehicles, and some self-driving vehicles have begun to appear in the automobile market.

[0003] In actual applications, multiple sensors may be integrated into autonomous vehicles, such as radar sensors, image sensors, etc.

[0004] When multiple sensors are collecting data, due to certain differences in data collection between different sensors, it may be impossible to obtain time-aligned data for the same object when controlling multiple sensors to collect data at the same time, which may cause problems in the subsequent use of the collected data. Summary of the invention

[0005] In view of the above problems, a data detection method and device, a vehicle and a storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0006] A data detection method, the method comprising:

[0007] Controlling the first acquisition device and the second acquisition device to simultaneously acquire data of a target scene; the target scene includes a rotating shaft that is rotating;

[0008] Acquire first collected data collected by the first collecting device and second collected data collected by the second collecting device;

[0009] When the phase difference between the first phase information of the rotating axis corresponding to the first acquisition data and the second phase information of the rotating axis corresponding to the second acquisition data is not greater than the phase difference threshold, the first acquisition data and the second acquisition data are output.

[0010] Optionally, the first acquisition device and the second acquisition device are connected to the data detection system, and when the phase difference between the first phase information of the rotating axis corresponding to the first acquisition data and the second phase information of the rotating axis corresponding to the second acquisition data is not greater than the phase difference threshold, the first acquisition data and the second acquisition data are output, including:

[0011] Acquire first timestamp information of the data detection system when the first acquisition device acquires the first acquisition data;

[0012] Acquire second timestamp information of the data detection system when the second acquisition device acquires the second acquisition data;

[0013] Determine a first time difference between the first timestamp information and the second timestamp information, and determine whether the first time difference is not greater than a time difference threshold;

[0014] When 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, the first acquisition data and the second acquisition data are output.

[0015] Optionally, the method further comprises:

[0016] Determine first current position information of the rotating shaft according to the first collected data;

[0017] Determining second current position information of the rotating shaft according to the second collected data;

[0018] Determining first phase information according to first current position information and preset initial position information;

[0019] The second phase information is determined according to the second current position information and the preset initial position information.

[0020] 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;

[0021] The method also includes:

[0022] 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, obtaining rotation rate information of the rotating shaft;

[0023] determining a second time difference between the third phase information and the fourth phase information according to the rotation rate information;

[0024] According to the second time difference, second radar data is obtained from the first collected data; 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 the phase difference threshold;

[0025] The second radar data and the first image data are output.

[0026] Optionally, the method further comprises:

[0027] According to the second time difference, second image data is obtained from the second collected data; the phase difference between the sixth phase information corresponding to the second image data and the third phase information corresponding to the first radar data is not greater than the phase difference threshold;

[0028] The second image data and the first radar data are output.

[0029] Optionally, the first acquisition device includes a radar sensor, and the second acquisition device includes an image sensor;

[0030] Controlling the first acquisition device and the second acquisition device to simultaneously acquire data of the target scene includes:

[0031] Controlling the radar sensor to emit electromagnetic waves to the target scene to generate first collected data;

[0032] The image sensor is controlled to shoot the target scene to generate second acquisition data.

[0033] The embodiment of the present invention further provides a data detection device, the device comprising:

[0034] A control module, used for controlling the first acquisition device and the second acquisition device to simultaneously acquire data from a target scene; the target scene includes a rotating shaft that is rotating;

[0035] An acquisition module, used to acquire first acquisition data acquired by the first acquisition device and second acquisition data acquired by the second acquisition device;

[0036] The first output module is used to output the first acquisition data and the second acquisition data when the phase difference between the first phase information of the rotating axis corresponding to the first acquisition data and the second phase information of the rotating axis corresponding to the second acquisition data is not greater than the phase difference threshold.

[0037] Optionally, the first acquisition device and the second acquisition device are connected to a data detection system.

[0038] The first output module is used to obtain the first timestamp information of the data detection system when the first acquisition device acquires the first acquisition data; obtain the second timestamp information of the data detection system when the second acquisition device acquires the second acquisition data; determine the first time difference between the first timestamp information and the second timestamp information, and judge whether the first time difference is not greater than the time difference threshold; when 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, output the first acquisition data and the second acquisition data.

[0039] Optionally, the device further comprises:

[0040] The phase information determination module is used to determine the first current position information of the rotating shaft being rotated according to the first collected data; determine the second current position information of the rotating shaft being rotated according to the second collected data; determine the first phase information according to the first current position information and the preset initial position information; determine the second phase information according to the second current position information and the preset initial position information.

[0041] 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;

[0042] The device also includes:

[0043] The second output module is used to obtain the rotation rate information of the rotating shaft 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 greater than the phase difference threshold; determine the second time difference between the third phase information and the fourth phase information according to the rotation rate information; obtain the second radar data from the first collected 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 the phase difference threshold; and output the second radar data and the first image data.

[0044] Optionally, the device further comprises:

[0045] The third output module is used to obtain second image data from the second collected data according to the second time difference; the phase difference between the sixth phase information corresponding to the second image data and the third phase information corresponding to the first radar data is not greater than the phase difference threshold; and the second image data and the first radar data are output.

[0046] Optionally, the first acquisition device includes a radar sensor, and the second acquisition device includes an image sensor;

[0047] Control module, including:

[0048] A first control submodule, used to control the radar sensor to transmit electromagnetic waves to the target scene to generate first collected data;

[0049] The second control submodule is used to control the image sensor to shoot the target scene to generate second acquisition data.

[0050] An embodiment of the present invention further provides a vehicle, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and the computer program implements the above data detection method when executed by the processor.

[0051] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above data detection method is implemented.

[0052] The embodiments of the present invention have the following advantages:

[0053] In an embodiment of the present invention, a first acquisition device and a second acquisition device are controlled to simultaneously acquire data of a target scene; the target scene includes a rotating shaft that is rotating; first acquisition data acquired by the first acquisition device and second acquisition data acquired by the second acquisition device are acquired; 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, the first acquisition data and the second acquisition data are output. Through the embodiment of the present invention, it is possible to determine whether the acquisition data acquired by different acquisition devices is data acquired at the same time for the scene based on the rotating shaft that is rotating in the scene, and output the data when it is data acquired at the same time for the scene, thereby ensuring that the output data acquired by different acquisition devices are synchronized. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0055] Figure 1 is a flow chart of steps of a data detection method according to an embodiment of the present invention;

[0056] Figure 2 is a flowchart of another method for detecting data according to an embodiment of the present invention;

[0057] Figure 3 is a schematic diagram of collecting data of a target scene according to an embodiment of the present invention;

[0058] Figure 4 is a flowchart of steps of another data detection method according to an embodiment of the present invention;

[0059] Figure 5 It is a structural block diagram of a data detection device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] Reference Figure 1 , shows a flow chart of a data detection method according to an embodiment of the present invention, including the following steps:

[0062] Step 101, controlling a first acquisition device and a second acquisition device to simultaneously acquire data of a target scene; the target scene includes a rotating shaft that is rotating;

[0063] The first acquisition device and the second acquisition device may be different types of sensors deployed in the vehicle, for example, radar sensors, image sensors, etc., which is not limited in this embodiment of the present invention.

[0064] In practical applications, it may be necessary to calibrate data based on data collected by different sensors; or, during vehicle driving, it may be necessary to use data collected by different sensors as input data for decisions such as autonomous driving and obstacle avoidance.

[0065] If the input data is collected at different times for the target scene, problems may arise when using this data, such as inability to accurately calibrate, or inability to accurately plan autonomous driving or avoid obstacles.

[0066] In order to ensure that the outputted collected data is for the target scene at the same time, an embodiment of the present invention can pre-set a rotation axis. The rotation axis needs to be set at a position where the first collection device and the second collection device can collect data, and the position of the rotation axis relative to the first collection device and the second collection device needs to ensure that during the rotation of the rotation axis, the first collection device and the second collection device can collect data of different phases of the rotation axis.

[0067] The position where the rotating shaft is set can be set according to actual conditions, for example, it can be set on the vehicle or outside the vehicle, and the embodiment of the present invention does not limit this.

[0068] Then, the rotating shaft can be controlled to rotate at a certain rotation rate; when the rotating shaft starts to rotate and stabilizes at a certain rotation rate, the first acquisition device and the second acquisition device can be controlled simultaneously to collect data of the target scene including the rotating shaft.

[0069] Step 102: Acquire first collected data collected by the first collecting device and second collected data collected by the second collecting device;

[0070] When the first acquisition device acquires data of the target scene, it can generate corresponding first acquisition data; correspondingly, when the second acquisition device acquires data of the target scene, it can also generate corresponding second acquisition data.

[0071] After generating the first acquisition data and the second acquisition data, the first acquisition device and the second acquisition device can send them in real time to the data detection system connected to the first acquisition device and the second acquisition device; of course, the data detection system can also obtain 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 collect data for the target scene, and the embodiment of the present invention does not limit this.

[0072] Step 103 : when the phase difference between the first phase information of the rotating axis corresponding to the first collected data and the second phase information of the rotating axis corresponding to the second collected data is not greater than the phase difference threshold, output the first collected data and the second collected data.

[0073] The first phase information (or the second phase information) may refer to the angular difference between the current position of the rotation axis and the initial position when the first acquisition device (or the second acquisition device) acquires data for the target scene.

[0074] In practical applications, the first collected data and the second collected data are generated by different collection devices. Therefore, even if they are collected simultaneously, the first collected data and the second collected data may be out of sync due to different collection frequencies of the collection devices.

[0075] In order to ensure that the output acquisition data is synchronized, an embodiment of the present invention can determine the first phase information of the rotating axis included in the target scene based on the first acquisition data, and determine the second phase information of the rotating axis included in the target scene based on the second acquisition data; and then based on the first phase information and the second phase information, determine whether the first acquisition data and the second acquisition data are data collected at the same time for the target scene.

[0076] Specifically, a phase difference can be determined based on the first phase information and the second phase information; then it is determined whether the phase difference is not greater than a preset phase difference threshold; wherein the phase difference threshold can be set according to actual conditions, for example: 1°, and the embodiment of the present invention does not limit this.

[0077] 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 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.

[0078] If the phase difference between the first phase information and the second phase information is not greater than the phase difference threshold, it can be said 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 can be output so as to perform subsequent calibration in other experiments based on the first collected data and the second collected data, or path planning and obstacle avoidance during vehicle automatic driving, etc., which is not limited in this embodiment of the present invention.

[0079] In an embodiment of the present invention, a first acquisition device and a second acquisition device are controlled to simultaneously acquire data of a target scene; the target scene includes a rotating shaft that is rotating; first acquisition data acquired by the first acquisition device and second acquisition data acquired by the second acquisition device are acquired; 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, the first acquisition data and the second acquisition data are output. Through the embodiment of the present invention, it is possible to determine whether the acquisition data acquired by different acquisition devices is data acquired at the same time for the scene based on the rotating shaft that is rotating in the scene, and output the data when it is data acquired at the same time for the scene, thereby ensuring that the output data acquired by different acquisition devices are synchronized.

[0080] Reference Figure 2 , shows a flowchart of another data detection method according to an embodiment of the present invention, including the following steps:

[0081] Step 201, controlling the first acquisition device and the second acquisition device to simultaneously acquire data of the target scene;

[0082] In practical applications, the rotating shaft can be controlled to rotate at a certain rotation rate first; when the rotating shaft starts to rotate and stabilizes at a certain rotation rate, the first acquisition device and the second acquisition device can be controlled simultaneously to collect data of the target scene including the rotating shaft.

[0083] Step 202: Acquire first collected data collected by the first collecting device and second collected data collected by the second collecting device;

[0084] When the first acquisition device acquires data of the target scene, it can generate corresponding first acquisition data; correspondingly, when the second acquisition device acquires data of the target scene, it can also generate corresponding second acquisition data.

[0085] After generating the first acquisition data and the second acquisition data, the first acquisition device and the second acquisition device can send them in real time to the data detection system connected to the first acquisition device and the second acquisition device; of course, the data detection system can also obtain 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 collect data for the target scene, and the embodiment of the present invention does not limit this.

[0086] Step 203: The first acquisition device and the second acquisition device are connected to the data detection system to obtain first timestamp information of the data detection system when the first acquisition device acquires the first acquisition data;

[0087] Among them, the data detection system can be connected to other systems, such as: a system for planning autonomous driving, a system for vehicle obstacle avoidance, etc.

[0088] The data detection system can also be connected to the first acquisition device and the second acquisition device, and can obtain the first acquisition data and the second acquisition data from the first acquisition device and the second acquisition device; the data detection system can also be used to verify the acquisition data generated by different acquisition devices, so that the first acquisition data and the second acquisition data verified to be synchronized can be output to other systems.

[0089] In practical applications, when the first acquisition device acquires the first acquisition data, the data detection system may generate a first timestamp information; the first timestamp information may refer to the system time of the data detection system when the first acquisition device acquires the first acquisition data.

[0090] As an example, when the first acquisition device acquires the first acquisition data, it can first determine a system time of the first acquisition device itself, and then determine the corresponding first timestamp information based on the time conversion relationship between the first acquisition device and the data detection system. The embodiment of the present invention does not limit this.

[0091] Step 204, obtaining second timestamp information of the data detection system when the second acquisition device acquires the second acquisition data;

[0092] In practical applications, when the second acquisition device acquires the second acquisition data, the data detection system may generate a second timestamp information; the second timestamp information may refer to the system time of the data detection system when the second acquisition device acquires the second acquisition data.

[0093] As an example, when the second acquisition device acquires the second acquisition data, it can first determine a system time of the second acquisition device itself, and then determine the corresponding second timestamp information based on the time conversion relationship between the second acquisition device and the data detection system. The embodiment of the present invention does not limit this.

[0094] Step 205: determine a first time difference between the first timestamp information and the second timestamp information, and determine whether the first time difference is not greater than a time difference threshold;

[0095] In practical applications, if only the phase difference is used to determine whether the first collected data and the second collected data are data collected at the same time for the target scene, the following situations may occur:

[0096] The first phase information is 10°, and the second phase information is 11°; however, the second phase information is actually 360° more than the first phase information. At this time, the phase difference between the first phase information and the second phase information is not greater than the phase difference threshold, but in fact the phase difference between the two should be 361°.

[0097] In order to avoid misjudgment caused by the occurrence of the above situation, a time difference threshold can be set to determine whether the first time difference between the first timestamp information and the second timestamp information is not greater than the preset time difference threshold; the time difference threshold can be determined based on the rotation rate of the rotating shaft, for example: the time required for the rotating shaft to rotate one circle can be determined based on the rotation rate, and then the time difference threshold is determined based on the time required for the rotation one circle; for example: the time required for one rotation is 10ms, then the time difference threshold can be set to 5ms, and the embodiment of the present invention does not limit this.

[0098] If the first time difference is not greater than the time difference threshold, it may indicate that the first phase information and the second phase information are phase information for the same rotation axis.

[0099] If the first time difference is higher than the time difference threshold, it may indicate that the first phase information and the second phase information are not phase information for the same rotation axis.

[0100] Step 206: When 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, output the first acquisition data and the second acquisition data.

[0101] 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 can 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 data detection system can output the first collected data and the second collected data to other systems for processing.

[0102] For example:

[0103] First phase information a, second phase information b, phase difference abs(ab);

[0104] First timestamp information t 1 , the second timestamp information t 2 , the first time difference abs(t 1 -t 2 );

[0105] Time difference threshold t s ; Phase difference threshold v;

[0106] Then if abs(ab)≤t s , and abs(t 1 -t 2 )≤v, the first collected data and the second collected data are output.

[0107] In one embodiment of the present invention, the first phase information and the second phase information may be determined by the following steps:

[0108] According to the first collected data, the first current position information of the rotating shaft being rotated is determined; according to the second collected data, the second current position information of the rotating shaft being rotated is determined; according to the first current position information and the preset initial position information, the first phase information is determined; according to the second current position information and the preset initial position information, the second phase information is determined.

[0109] After acquiring the first acquisition data, the first current position information of the rotating axis that is rotating when the first acquisition device acquires the first acquisition data can be determined based on the first acquisition data; and the second current position information of the rotating axis that is rotating when the second acquisition device acquires the second acquisition data can be determined based on the second acquisition data.

[0110] Then, the position represented by the first current position information and the angle represented by the initial position information pre-set for the rotation axis can be used as the first phase information; at the same time, the position represented by the second current position information and the angle represented by the initial position information can be used as the second phase information.

[0111] like Figure 3 , a first acquisition device 1 and a second acquisition device 2 are deployed in the vehicle 0; the first acquisition device 1 and the second acquisition device 2 collect data for a target scene including a rotating shaft 3;

[0112] The position 4 represented by the first current position information, relative to the angle α represented by the initial position information 5 pre-set for the rotation axis, is used as the first phase information;

[0113] The position 6 represented by the second current position information, relative to the angle β represented by the initial position information 5 pre-set for the rotation axis, serves as the second phase information.

[0114] In an embodiment of the present invention, the first acquisition device and the second acquisition device are controlled to collect data of the target scene at the same time; the first acquisition data collected by the first acquisition device and the second acquisition data collected by the second acquisition device are obtained; the first acquisition device and the second acquisition device are connected to the data detection system to obtain the first timestamp information of the data detection system when the first acquisition device collects the first acquisition data; the second timestamp information of the data detection system when the second acquisition device collects the second acquisition data is obtained; the first time difference between the first timestamp information and the second timestamp information is determined, and it is judged whether the first time difference is not greater than the time difference threshold; when 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, the first acquisition data and the second acquisition data are output. Through the embodiment of the present invention, it is realized to judge whether the acquisition data collected by different acquisition devices is the data collected at the same time for the scene based on the phase difference of the phase corresponding to the data collected by different acquisition devices and the time difference of the corresponding timestamps, and further ensure that the output data collected by different acquisition devices are synchronized.

[0115] Reference Figure 4 , shows a flowchart of steps of another data detection method according to an embodiment of the present invention, 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;

[0116] Specifically, the following steps may be included:

[0117] Step 401: Control the radar sensor to transmit electromagnetic waves to the target scene to generate first collected data;

[0118] The first acquisition device may refer to a radar sensor capable of emitting electromagnetic waves, and the second acquisition device may refer to an image sensor capable of capturing images.

[0119] In practical applications, the data detection system can first control the rotating shaft to rotate at a certain rotation rate; when the rotating shaft starts to rotate and stabilizes at a certain rotation rate, the data detection system can control the radar sensor to emit electromagnetic waves to the target scene.

[0120] Then, the radar sensor can generate first collected data based on the reflected electromagnetic waves. Since the target scene includes a rotating axis, the first collected data generated by the radar sensor actually also includes data collected for the rotating axis.

[0121] Step 402: Control the image sensor to shoot the target scene to generate second acquisition data;

[0122] At the same time, the data detection system can control the image sensor to shoot the target scene to generate the second acquisition data while controlling the radar sensor. Since the target scene includes a rotating axis, the second acquisition data obtained by the image sensor actually also includes data collected for the rotating axis.

[0123] Step 403: acquiring first collected data collected by the radar sensor and second collected data collected by the image sensor;

[0124] After the radar sensor and the image sensor collect the first collected data and the second collected data, the radar sensor and the image sensor can transmit the first collected data and the second collected data to the data detection system in real time.

[0125] Of course, the data detection system can also acquire the first collected data and the second collected data from the radar sensor and the image sensor in real time.

[0126] Step 404: obtaining first timestamp information of the data detection system when the radar sensor collects the first collected data;

[0127] In practical applications, when the radar sensor acquires the first acquired data, the data detection system may generate a first timestamp information; the first timestamp information may refer to the system time of the data detection system when the radar sensor acquires the first acquired data.

[0128] Step 405: obtaining second timestamp information of the data detection system when the image sensor collects the second collected data;

[0129] In practical applications, when the image sensor acquires the second acquired data, the data detection system may generate a second timestamp information; the second timestamp information may refer to the system time of the data detection system when the image sensor acquires the second acquired data.

[0130] Step 406: determine a first time difference between the first timestamp information and the second timestamp information, and determine whether the first time difference is not greater than a time difference threshold;

[0131] Then, a first time difference between the first timestamp information and the second timestamp information may be determined, and it may be determined whether the first time difference is not greater than a preset time difference threshold.

[0132] If the first time difference is not greater than the time difference threshold, it may indicate that the first phase information and the second phase information are phase information for the same rotation axis.

[0133] If the first time difference is higher than the time difference threshold, it may indicate that the first phase information and the second phase information are not phase information for the same rotation axis.

[0134] Step 407: when 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, output the first acquisition data and the second acquisition data;

[0135] 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 can 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 data detection system can output the first collected data and the second collected data to other systems for processing.

[0136] Step 408: 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; 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 greater than the phase difference threshold, the rotation rate information of the rotating shaft being rotated is obtained;

[0137] Among them, the data detection system can control the radar sensor and the image sensor to continuously collect data for a period of time; accordingly, the first collected data generated by the radar sensor may include multiple radar data, and the second collected data generated by the image sensor may also include multiple image data.

[0138] 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.

[0139] 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 can be indicated that the first radar data and the first image data are not data collected at the same time for the target scene.

[0140] At this time, in order to be able to output the data collected by the radar sensor and the image sensor for the target scene at the same time, the current rotation rate information of the rotation axis can be obtained, and the data collected by the radar sensor and the data collected by the image sensor can be synchronized based on the rotation rate information.

[0141] Step 409: determining a second time difference between the third phase information and the fourth phase information according to the rotation rate information;

[0142] Specifically, the second time difference between the third phase information corresponding to the first radar data and the fourth phase information corresponding to the first image data can be determined according to the rotation rate information; for example: the third phase information is 3°, the fourth phase information is 15°, and the rotation rate information is 1us / degree, then the second time difference can be determined to be 12us, and this embodiment of the present invention is not limited to this.

[0143] Step 410: acquiring second radar data from the first collected 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;

[0144] The fifth phase information may be one of the first phase information.

[0145] Then, radar data whose phase difference with the fourth phase information corresponding to the first image data is not greater than the phase difference threshold can be obtained from the first collected data as the second radar data corresponding to the first image data and collected at the same time for the target scene; the phase difference between the fifth phase information of the second radar data and the fourth phase information is not greater than the phase difference threshold.

[0146] In one embodiment of the present invention, the time difference between the third timestamp information corresponding to the second radar data and the second timestamp information also needs to be no greater than the time difference threshold to avoid treating actually unsynchronized data as synchronized data. This embodiment of the present invention does not limit this.

[0147] Step 411: output the second radar data and the first image data;

[0148] Then, the data detection system can output the second radar data and the first image data to other systems, so that the data collected by different collection devices input to other systems are synchronized.

[0149] Step 412: acquiring second image data from the second collected data according to the second time difference; a phase difference between the sixth phase information corresponding to the second image data and the third phase information corresponding to the first radar data is not greater than a phase difference threshold;

[0150] Of course, it is also possible to obtain image data from the second acquired 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, as the second image data corresponding to the first radar data and collected at the same time for the target scene; the phase difference between the sixth phase information of the second image data and the third phase information is not greater than the phase difference threshold.

[0151] In an embodiment of the present invention, the fourth timestamp information corresponding to the second image data also needs to have a time difference with the first timestamp information that is not greater than a time difference threshold to avoid treating actually unsynchronized data as synchronized data, which is not limited in this embodiment of the present invention.

[0152] Step 413: output the second image data and the first radar data.

[0153] Then, the data detection system may output the second image data and the first radar data to other systems, so that the data collected by different collection devices input to other systems are synchronized.

[0154] In an embodiment of the present invention, a radar sensor is controlled to emit electromagnetic waves to a target scene to generate first acquisition data; at the same time, an image sensor is controlled to shoot the target scene to generate second acquisition data; the first acquisition data acquired by the radar sensor and the second acquisition data acquired by the image sensor are acquired; the first timestamp information of a data detection system when the radar sensor acquires the first acquisition data is acquired; the second timestamp information of the data detection system when the image sensor acquires the second acquisition data is acquired; a first time difference between the first timestamp information and the second timestamp information is determined, and it is determined whether the first time difference is not greater than a time difference threshold; when 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, the first acquisition data and the second acquisition data are output; the first acquisition data includes at least two, the second acquisition data includes at least two, the first acquisition The data is radar data, and the second acquisition data is 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 greater than the phase difference threshold, the rotation rate information of the rotating shaft being rotated is obtained; according to the rotation rate information, the second time difference between the third phase information and the fourth phase information is determined; according to the second time difference, the second radar data is obtained from the first acquisition data; 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 the phase difference threshold; the second radar data and the first image data are output; according to the second time difference, the second image data is obtained from the second acquisition data; the phase difference between the sixth phase information corresponding to the second image data and the third phase information corresponding to the first radar data is not greater than the phase difference threshold; the second image data and the first radar data are output. Through the embodiment of the present invention, when the data collected by different acquisition devices are not synchronized, the corresponding relationship of the data collected by different acquisition devices is adjusted based on the phase difference, so as to ensure that the output data is always synchronized.

[0155] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0156] Reference Figure 5 , shows a schematic diagram of the structure of a data detection device according to an embodiment of the present invention, including the following modules:

[0157] The control module 501 is used to control the first acquisition device and the second acquisition device to simultaneously acquire data from a target scene; the target scene includes a rotating shaft that is rotating;

[0158] An acquisition module 502 is used to acquire first acquisition data acquired by a first acquisition device and second acquisition data acquired by a second acquisition device;

[0159] The first output module 503 is used to output the first acquisition data and the second acquisition data when the phase difference between the first phase information of the rotating axis corresponding to the first acquisition data and the second phase information of the rotating axis corresponding to the second acquisition data is not greater than the phase difference threshold.

[0160] In an optional embodiment of the present invention, the first acquisition device and the second acquisition device are connected to the data detection system.

[0161] The first output module 503 is used to obtain the 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; obtain the second timestamp information of the data detection system when the second acquisition device acquires the second acquisition data; determine the first time difference between the first timestamp information and the second timestamp information, and judge whether the first time difference is not greater than the time difference threshold; when 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, output the first acquisition data and the second acquisition data.

[0162] In an optional embodiment of the present invention, the device further comprises:

[0163] The phase information determination module is used to determine the first current position information of the rotating shaft being rotated according to the first collected data; determine the second current position information of the rotating shaft being rotated according to the second collected data; determine the first phase information according to the first current position information and the preset initial position information; determine the second phase information according to the second current position information and the preset initial position information.

[0164] 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;

[0165] The device also includes:

[0166] The second output module is used to obtain the rotation rate information of the rotating shaft 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 greater than the phase difference threshold; determine the second time difference between the third phase information and the fourth phase information according to the rotation rate information; obtain the second radar data from the first collected 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 the phase difference threshold; and output the second radar data and the first image data.

[0167] In an optional embodiment of the present invention, the device further comprises:

[0168] The third output module is used to obtain second image data from the second collected data according to the second time difference; the phase difference between the sixth phase information corresponding to the second image data and the third phase information corresponding to the first radar data is not greater than the phase difference threshold; and the second image data and the first radar data are output.

[0169] In an optional embodiment of the present invention, the first acquisition device includes a radar sensor, and the second acquisition device includes an image sensor;

[0170] The control module 501 includes:

[0171] A first control submodule, used to control the radar sensor to transmit electromagnetic waves to the target scene to generate first collected data;

[0172] The second control submodule is used to control the image sensor to shoot the target scene to generate second acquisition data.

[0173] In an embodiment of the present invention, a first acquisition device and a second acquisition device are controlled to simultaneously acquire data of a target scene; the target scene includes a rotating shaft that is rotating; first acquisition data acquired by the first acquisition device and second acquisition data acquired by the second acquisition device are acquired; 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, the first acquisition data and the second acquisition data are output. Through the embodiment of the present invention, it is possible to determine whether the acquisition data acquired by different acquisition devices is data acquired at the same time for the scene based on the rotating shaft that is rotating in the scene, and output the data when it is data acquired at the same time for the scene, thereby ensuring that the output data acquired by different acquisition devices are synchronized.

[0174] An embodiment of the present invention further provides a vehicle, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and the computer program implements the above data detection method when executed by the processor.

[0175] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above data detection method is implemented.

[0176] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0177] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0178] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0179] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0180] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0181] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0182] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0183] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0184] The above provides a detailed introduction to a data detection method and device, a vehicle and a storage medium. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A data detection method, characterized in that: The method comprises: Controlling the first acquisition device and the second acquisition device to simultaneously acquire data from a target scene; the target scene includes a rotating shaft that is rotating; Acquire first collected data collected by the first collecting device and second collected data collected by the second collecting device; When the phase difference between the first phase information of the rotating axis corresponding to the first acquisition data and the second phase information of the rotating axis corresponding to the second acquisition data is not greater than the phase difference threshold, the first acquisition data and the second acquisition data are output.

2. The method according to claim 1, characterized in that: The first acquisition device and the second acquisition device are connected to a data detection system, and when a phase difference between first phase information of a rotating axis corresponding to the first acquisition data and second phase information of a rotating axis 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: Acquire first timestamp information of the data detection system when the first acquisition device acquires first acquisition data; Acquire second timestamp information of the data detection system when the second acquisition device acquires second acquisition data; Determine a first time difference between the first timestamp information and the second timestamp information, and determine whether the first time difference is not greater than a time difference threshold; When the 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, the first acquisition data and the second acquisition data are output.

3. The method according to claim 1, characterized in that The method further comprises: Determining first current position information of the rotating shaft according to the first collected data; Determining second current position information of the rotating shaft according to the second collected data; Determining the first phase information according to the first current position information and preset initial position information; The second phase information is determined according to the second current position information and the preset initial position information.

4. The method according to any one of claims 1 to 3, characterized in that: 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: 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 the phase difference threshold, obtaining rotation rate information of the rotating shaft that is 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 collected 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; The second radar data and the first image data are output.

5. The method according to claim 4, characterized in that The method further comprises: According to the second time difference, second image data is acquired from the second collected data; 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; The second image data and the first radar data are output.

6. The method according to claim 1 or 2 or 3 or 5, characterized in that: The first acquisition device includes a radar sensor, and the second acquisition device includes an image sensor; The controlling the first acquisition device and the second acquisition device to simultaneously acquire data of the target scene comprises: Controlling the radar sensor to transmit electromagnetic waves to the target scene to generate first collected data; The image sensor is controlled to shoot the target scene to generate second acquisition data.

7. A data detection device, characterized in that: The device comprises: A control module, used for controlling the first acquisition device and the second acquisition device to simultaneously acquire data from a target scene; the target scene includes a rotating shaft that is rotating; An acquisition module, used for acquiring first acquisition data acquired by the first acquisition device and second acquisition data acquired by the second acquisition device; The first output module is used to output the first acquisition data and the second acquisition data when the phase difference between the first phase information of the rotating axis corresponding to the first acquisition data and the second phase information of the rotating axis corresponding to the second acquisition data is not greater than a phase difference threshold.

8. The device according to claim 7, characterized in that The first acquisition device and the second acquisition device are connected to a data detection system, The first output module is used 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; Acquire second timestamp information of the data detection system when the second acquisition device acquires second acquisition data; Determine a first time difference between the first timestamp information and the second timestamp information, and determine whether the first time difference is not greater than a time difference threshold; when 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, output the first acquisition data and the second acquisition data.

9. A vehicle, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method for detecting data according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the data detection method according to any one of claims 1 to 6 is implemented.

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