Data processing method, data processing device, vehicle and storage medium

Abstract

The present invention discloses a data processing method, device, vehicle and storage medium. The data processing method includes: acquiring first data and second data, the first data is obtained by a first sensor collecting scene information of a preset scene, and the second data is obtained by a second sensor synchronously collecting scene information of a preset scene, and the preset scene includes a rotating object rotating at a uniform speed; processing the first data to obtain a first straight line corresponding to the rotating object; processing the second data to obtain a second straight line corresponding to the rotating object; calculating the angle between the first straight line and the second straight line as a phase difference, and the phase difference is used to characterize the synchronization accuracy of the first sensor and the second sensor. In the above-mentioned data processing method, device, vehicle and storage medium, the angle between the first straight line and the second straight line can be determined as a phase difference, and the synchronization accuracy of the first sensor and the second sensor can be known through the phase difference, so that the efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to a data processing method, a data processing device, a vehicle and a computer-readable storage medium. Background Art

[0002] Multi-sensor data fusion technology is in a period of rapid development. For example, the combination of LiDAR and camera is particularly common. When fusing multi-sensor data, strict synchronization of data collection time may be required. In related technologies, the synchronization accuracy of data collection time is determined by manually controlling the movement of objects, which is inefficient. Summary of the invention

[0003] The present invention provides a data processing method, a data processing device, a vehicle and a computer-readable storage medium.

[0004] The data processing method of the present invention includes: acquiring first data and second data, the first data is obtained by a first sensor collecting scene information of a preset scene, and the second data is obtained by a second sensor synchronously collecting scene information of the preset scene, and the preset scene includes a rotating object rotating at a uniform speed; processing the first data to obtain a first straight line corresponding to the rotating object; processing the second data to obtain a second straight line corresponding to the rotating object; calculating the angle between the first straight line and the second straight line as a phase difference, and the phase difference is used to characterize the synchronization accuracy of the first sensor and the second sensor.

[0005] In some embodiments, the rotating object includes a reflective surface, the first sensor includes a first collector, the second sensor includes a second collector, the first collector includes a first optical axis, the second collector includes a second optical axis, and the first optical axis and the second optical axis are both perpendicular to the reflective surface.

[0006] In some embodiments, the first sensor includes a depth sensor, the first data includes point cloud information of the rotating object, and processing the first data to obtain a first straight line corresponding to the rotating object includes: fitting the plane where the rotating object is located according to the point cloud information of the rotating object; projecting the point cloud information of the rotating object onto the plane to obtain projection points; and fitting the projection points to obtain the first straight line.

[0007] In some embodiments, the second sensor includes a visible light sensor, the second data includes pixel points of the rotating object, and processing the second data to obtain a second straight line corresponding to the rotating object includes: fitting the pixel points of the rotating object to obtain the second straight line.

[0008] In some embodiments, the first straight line includes a first slope, the second straight line includes a second slope, and calculating the angle between the first straight line and the second straight line as the phase difference includes: calculating the angle between the first straight line and the second straight line as the phase difference based on the first slope and the second slope.

[0009] In some embodiments, the rotation speed of the rotating object is a preset rotation speed, and the data processing method further includes: calculating the acquisition time difference between the first sensor and the second sensor according to the phase difference and the preset rotation speed.

[0010] In some embodiments, each of the first data and the second data includes multiple data, multiple first data are acquired by the first sensor at a preset frequency, and multiple second data are acquired synchronously by the second sensor at the preset frequency, and the rotation frequency of the rotating object is less than the preset frequency; each of the first data and the second data corresponds to an acquisition time difference; the data processing method also includes: calculating the average value of multiple acquisition time differences as the synchronization time difference.

[0011] The data processing device of the present invention includes an acquisition module, a first processing module, a second processing module and a third processing module. The acquisition module is used to acquire first data and second data, wherein the first data is acquired by a first sensor acquiring scene information of a preset scene, and the second data is acquired by a second sensor synchronously acquiring scene information of the preset scene, wherein the preset scene includes a rotating object rotating at a uniform speed. The first processing module is used to process the first data to obtain a first straight line corresponding to the rotating object. The second processing module is used to process the second data to obtain a second straight line corresponding to the rotating object. The third processing module is used to calculate the angle between the first straight line and the second straight line as a phase difference, and the phase difference is used to characterize the synchronization accuracy of the first sensor and the second sensor.

[0012] The vehicle of the present invention includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the data processing method of any one of the above-mentioned embodiments are implemented.

[0013] The computer-readable storage medium of the present invention stores a computer program thereon, and when the program is executed by a processor, the data processing method of any one of the above-mentioned embodiments is implemented.

[0014] In the above-mentioned data processing method, data processing device, vehicle and computer-readable storage medium, the first data and the second data are processed to obtain the first straight line and the second straight line corresponding to the rotating object, so that the angle between the first straight line and the second straight line can be determined as the phase difference. The synchronization accuracy of the first sensor and the second sensor can be known through the phase difference, thereby improving efficiency.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0017] Figure 1 It is a flow chart of the data processing method of the present invention;

[0018] Figure 2 is a schematic diagram of a first sensor, a second sensor, and a rotating object of the present invention;

[0019] Figure 3 is a schematic diagram of a data processing device of the present invention;

[0020] Figure 4 is a schematic diagram of a vehicle of the present invention;

[0021] Figure 5 It is a flow chart of the data processing method of the present invention;

[0022] Figure 6 is a schematic diagram of a first processing module of the present invention;

[0023] Figures 7 to 9 It is a flow chart of the data processing method of the present invention;

[0024] Fig.10 is a schematic diagram of a data processing device of the present invention;

[0025] Fig.11 It is a flow chart of the data processing method of the present invention;

[0026] Fig.12 is a schematic diagram of a data processing device of the present invention;

[0027] Fig.13 It is a schematic diagram of the connection between a vehicle and a computer-readable storage medium of the present invention.

[0028] Description of main component symbols:

[0029] Vehicle 10, first sensor 112, second sensor 114, data processing device 12, acquisition module 121, first processing module 123, first processing unit 1232, second processing unit 1234, third processing unit 1236, second processing module 125, third processing module 127, fourth processing module 128, fifth processing module 129, processor 14, memory 16, rotating object 20, reflecting surface 22, computer readable storage medium 30. DETAILED DESCRIPTION

[0030] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0031] Multi-sensor data fusion technology is in a period of rapid development. For example, the combination of LiDAR and cameras is particularly common. When fusing multi-sensor data, strict synchronization of data collection time may be required. For example, during vehicle driving, decisions such as autonomous driving and obstacle avoidance can be made based on multi-sensor data. If the synchronization accuracy of data collection time is low, accurate autonomous driving and obstacle avoidance may not be possible due to the time difference in the collection of multi-sensor data. In related technologies, the synchronization accuracy of data collection time is determined by manually controlling the movement of objects, which is inefficient.

[0032] See also Figure 1 and Figure 2 , the data processing method of the present invention comprises:

[0033] 01: Acquire first data and second data, wherein the first data is acquired by the first sensor 112 collecting scene information of a preset scene, and the second data is acquired by the second sensor 114 synchronously collecting scene information of a preset scene, wherein the preset scene includes a rotating object 20 rotating at a uniform speed;

[0034] 03: Process the first data to obtain a first straight line corresponding to the rotating object 20;

[0035] 05: Process the second data to obtain a second straight line corresponding to the rotating object 20;

[0036] 07: Calculate the angle between the first straight line and the second straight line as the phase difference, and the phase difference is used to characterize the synchronization accuracy of the first sensor 112 and the second sensor 114.

[0037] See also Figure 2 and Figure 3, the data processing device 12 of the present invention includes an acquisition module 121, a first processing module 123, a second processing module 125 and a third processing module 127. The data processing method of the present invention can be implemented by the data processing device 12 of the present invention, wherein step 01 can be implemented by the acquisition module 121, step 03 can be implemented by the first processing module 123, step 05 can be implemented by the second processing module 125, and step 07 can be implemented by the third processing module 127. That is to say, the acquisition module 121 can be used to acquire the first data and the second data, the first data is obtained by the first sensor 112 collecting the scene information of the preset scene, and the second data is obtained by the second sensor 114 synchronously collecting the scene information of the preset scene, and the preset scene includes a rotating object 20 rotating at a uniform speed. The first processing module 123 can be used to process the first data to obtain a first straight line corresponding to the rotating object 20. The second processing module 125 can be used to process the second data to obtain a second straight line corresponding to the rotating object 20. The third processing module 127 can be used to calculate the angle between the first straight line and the second straight line as a phase difference, and the phase difference is used to characterize the synchronization accuracy of the first sensor 112 and the second sensor 114.

[0038] In the above-mentioned data processing method and data processing device 12, the first data and the second data are processed to obtain the first straight line and the second straight line corresponding to the rotating object 20, so that the angle between the first straight line and the second straight line can be determined as the phase difference. The synchronization accuracy of the first sensor 112 and the second sensor 114 can be known through the phase difference, thereby improving efficiency.

[0039] When the synchronization accuracy of the first sensor 112 and the second sensor 114 is higher than the preset accuracy, it can be determined that the synchronization accuracy of the first sensor 112 and the second sensor 114 has passed the verification; when the synchronization accuracy of the first sensor 112 and the second sensor 114 is lower than the preset accuracy, it can be determined that the synchronization accuracy of the first sensor 112 and the second sensor 114 has not passed the verification.

[0040] The first sensor 112 and the second sensor 114 are sensors that can collect scene information, such as a depth sensor (lidar, structured light camera module), a visible light sensor (RGB camera), an infrared sensor (infrared camera), etc. In an embodiment of the present invention, the first sensor 112 is a depth sensor, such as a lidar, and the second sensor is a visible light sensor, such as an RGB camera (camera).

[0041] Please combine Figure 4, the first sensor 112 and the second sensor 114 can be arranged on the vehicle 10. The data processing device 12 can be arranged on the vehicle 10 or independently of the vehicle 10. When the data processing device 12 is arranged on the vehicle 10, the data processing device 12 can control the first sensor 112 and the second sensor 114 to collect the first data and the second data respectively, so as to obtain the first data and the second data; when the data processing device 12 is independently arranged on the vehicle 10, the first sensor 112 and the second sensor 114 can collect the first data and the second data respectively, and then transmit the first data and the second data to the data processing device 12, so that the data processing device 12 can obtain the first data and the second data.

[0042] The first sensor 112 and the second sensor 114 synchronously collect scene information of a preset scene, wherein synchronization means that the first sensor 112 and the second sensor 114 theoretically collect scene information of the preset scene simultaneously, but due to transmission errors of control signals, errors in sensor operation or process errors, the first sensor 112 and the second sensor 114 may not actually work simultaneously, but there is a certain time deviation. The smaller the time deviation, the higher the synchronization accuracy of the first sensor 112 and the second sensor 114; the larger the time deviation, the lower the synchronization accuracy of the first sensor 112 and the second sensor 114.

[0043] The preset scene can be arranged outside the vehicle 10, and the first sensor 112 and the second sensor 114 can collect the scene outside the vehicle 10. Specifically, the first sensor 112 and the second sensor 114 can collect scene information of the preset scene, wherein the preset scene includes a rotating object 20 rotating at a uniform speed, that is, the first sensor 112 and the second sensor 114 can collect scene information of the rotating object 20.

[0044] In order to facilitate the acquisition of the straight lines (first straight line and second straight line) corresponding to the rotating object 20, the rotating object 20 may be a strip-shaped object, and the rotating object 20 may be, for example, a rotating shaft or a fan blade. In an embodiment of the present invention, a motor with a preset speed range may be selected, and a rectangular strip-shaped blade of known size may be fixed on the motor, wherein a blade is selected as the rotating object 20, and a reflective cloth with a preset reflectivity that can be accurately captured by the first sensor 112 and the second sensor 114 may be attached to the blade. The motor and the blade may be combined to form a fan. Among them, features such as known size and rectangular strip shape may facilitate subsequent processing of the first data and the second data to obtain the first straight line and the second straight line corresponding to the rotating object 20. In other embodiments, blades with features such as unknown size and cylindrical shape may be used, which are not specifically limited here.

[0045] The angle between the first straight line and the second straight line forms a phase difference, and the phase difference can be used to characterize the synchronization accuracy of the first sensor 112 and the second sensor 114. Specifically, when the rotation speed of the rotating object 20 remains unchanged, the smaller the phase difference between the first straight line and the second straight line, that is, the closer the first straight line and the second straight line are to overlap, the higher the synchronization accuracy of the first sensor 112 and the second sensor 114; the larger the phase difference between the first straight line and the second straight line, that is, the more separated the first straight line and the second straight line are, the lower the synchronization accuracy of the first sensor 112 and the second sensor 114. Therefore, the angle between the first straight line and the second straight line can be calculated as the phase difference, so as to know the synchronization accuracy of the first sensor 112 and the second sensor 114.

[0046] See also Figure 2 In some embodiments, the rotating object 20 includes a reflective surface 22, the first sensor 112 includes a first collector, the second sensor 114 includes a second collector, the first collector includes a first optical axis, the second collector includes a second optical axis, and the first optical axis and the second optical axis are both perpendicular to the reflective surface 22.

[0047] In this way, after the first collector and the second sensor acquire the first data and the second data, it is convenient to process the first data and the second data to obtain the first straight line and the second straight line.

[0048] Specifically, the rotating object 20 may be a rectangular strip blade, and the reflecting surface 22 may be the surface of the blade. The first sensor 112 is, for example, a laser radar, and the first sensor 112 includes a transmitter and a first collector, wherein the first collector includes a first optical axis, and the first optical axis is perpendicular to the reflecting surface 22, so that the first sensor 112 can collect the first data corresponding to the reflecting surface 22, so that the first data can be processed to obtain the first straight line. The second sensor 114 is, for example, a camera, and the second sensor 114 includes a second collector, wherein the second collector includes a second optical axis, and the second optical axis is perpendicular to the reflecting surface 22, so that the second sensor 114 can collect the second data corresponding to the reflecting surface 22, so that the second data can be processed to obtain the second straight line.

[0049] In some embodiments, the first optical axis and the second optical axis are on the same straight line, so that the first sensor 112 and the second sensor 114 have the same shooting angle relative to the rotating object 20, so that the coordinate system established by the first sensor 112 and the second sensor 114 is the same coordinate system, and the angle between the first straight line and the second straight line can be accurately determined to obtain the phase difference. In other embodiments, the first optical axis and the second optical axis may not be on the same straight line, and the relative position between the first sensor 112 and the second sensor 114 can be determined, and the coordinate systems of the first sensor 112 and the second sensor 114 are respectively established according to the relative position, so that the coordinate systems of the first sensor 112 and the second sensor 114 are the same coordinate system.

[0050] See also Figure 5 In some embodiments, the first sensor 112 includes a depth sensor, the first data includes point cloud information of the rotating object 20, and step 03 (processing the first data to obtain a first straight line corresponding to the rotating object 20) includes:

[0051] 032: Fitting the plane where the rotating object 20 is located according to the point cloud information of the rotating object 20;

[0052] 034: Projecting the point cloud information of the rotating object 20 onto the plane to obtain projection points;

[0053] 036: Fit the projected points to obtain the first straight line.

[0054] See also Figure 6 In some embodiments, the first sensor 112 includes a depth sensor, the first data includes point cloud information of the rotating object 20, and the first processing module 123 includes a first processing unit 1232, a second processing unit 1234, and a third processing unit 1236. Step 032 can be implemented by the first processing unit 1232, step 034 can be implemented by the second processing unit 1234, and step 036 can be implemented by the third processing unit 1236. That is, the first processing unit 1232 can be used to fit the plane where the rotating object 20 is located according to the point cloud information of the rotating object 20. The second processing unit 1234 can be used to project the point cloud information of the rotating object 20 onto the plane to obtain the projection points. The third processing unit 1236 can be used to fit the projection points to obtain the first straight line.

[0055] In this way, a first straight line can be obtained by processing the first data.

[0056] Specifically, the first sensor 112 includes a depth sensor, such as a laser radar, which can collect three-dimensional scene information of a preset scene, and the collected first data includes point cloud information of the rotating object 20. The rotating object 20 can have a preset reflectivity and can be accurately captured by the first sensor 112. In this way, the first sensor 112 can only obtain the point cloud information of the rotating object 20. The plane where the rotating object 20 is located can be fitted according to the point cloud information. Specifically, for example, the first sensor 112 collects multiple first data, that is, multi-frame point cloud information. According to the multi-frame point cloud information, the equation Ax+By+Cz=D of the plane where the rotating object is located can be fitted by using algorithms such as RANSAC, wherein (x, y, z) are the coordinates of each point of the rotating object 20, and thus a reference plane can be obtained. Then, the point cloud information of the rotating object 20 is projected onto a plane to obtain projection points, wherein the point cloud information is three-dimensional information, and projection points can be obtained by projecting the point cloud information onto a plane, and all projection points of the rotating object 20 form two-dimensional information of the rotating object 20, and the first straight line can be obtained by fitting the projection points, and the equation of the first straight line is, for example, y=px+q, wherein (x, y) is the coordinate of the projection point. The method of fitting the projection points can be implemented by linear regression and other methods, which are not specifically limited here.

[0057] See also Figure 7 In some embodiments, the second sensor 114 includes a visible light sensor, the second data includes pixel points of the rotating object 20, and step 05 (processing the second data to obtain a second straight line corresponding to the rotating object 20) includes:

[0058] 052: Fit the pixel points of the rotating object 20 to obtain a second straight line.

[0059] See also Figure 3 In some embodiments, the second sensor 114 includes a visible light sensor, the second data includes pixel points of the rotating object 20, and step 052 can be implemented by the second processing module 125, that is, the second processing module 125 can be used to fit the pixel points of the rotating object 20 to obtain a second straight line.

[0060] In this way, a second straight line can be obtained by processing the second data.

[0061] Specifically, the second sensor 114 includes a visible light sensor, which is, for example, a camera. The camera can collect two-dimensional scene information of a preset scene. The collected second data includes pixel points of the rotating object 20. The rotating object 20 can have a preset color. The pixel points of the rotating object 20 with the preset color can be screened out according to the RGB values ​​of the pixel points. The second straight line can be obtained by fitting the pixel points. The equation of the second straight line is, for example, y=mx+n, where (x, y) is the coordinate of the pixel point. The pixel fitting method can be implemented by linear regression or the like, which is not specifically limited here.

[0062] See also Figure 8 In some embodiments, the first straight line includes a first slope, and the second straight line includes a second slope, and step 07 (calculating the angle between the first straight line and the second straight line as a phase difference) includes:

[0063] 072: Calculate the angle between the first straight line and the second straight line according to the first slope and the second slope as the phase difference.

[0064] See also Figure 3 In some embodiments, the first straight line includes a first slope, and the second straight line includes a second slope. Step 072 can be implemented by the third processing module 127, that is, the third processing module 127 can be used to calculate the angle between the first straight line and the second straight line according to the first slope and the second slope as a phase difference.

[0065] In this way, the phase difference can be simply calculated by the first efficiency and the second efficiency.

[0066] Specifically, the equation of the first straight line is, for example, y=px+q, the first slope is p, the equation of the second straight line is, for example, y=mx+n, the second slope is m, and the angle between the first straight line and the second straight line is In this way, the angle between the first straight line and the second straight line can be calculated as the phase difference.

[0067] See also Fig. 9 In some embodiments, the rotation speed of the rotating object 20 is a preset rotation speed, and the data processing method further includes:

[0068] 08: Calculate the acquisition time difference between the first sensor 112 and the second sensor 114 according to the phase difference and the preset rotation speed.

[0069] See also Fig.10 In some embodiments, the rotation speed of the rotating object 20 is a preset rotation speed, and the data processing method further includes a fourth processing module 128. Step 08 can be implemented by the fourth processing module 128, that is, the fourth processing module 128 can be used to calculate the acquisition time difference between the first sensor 112 and the second sensor 114 according to the phase difference and the preset rotation speed.

[0070] In this way, the acquisition time difference (ie, time deviation) can be calculated through the phase difference and the preset rotation speed.

[0071] Specifically, the rotation speed of the rotating object 20 is a preset rotation speed, which can be, for example, a preset angular velocity ω, in radians per second; the phase difference is an angle θ, in degrees; then the difference between the acquisition time of the first sensor 112 and the acquisition time of the second sensor 114 (acquisition time difference) t=θ / (2πω), in seconds. The acquisition time difference can be used to characterize the synchronization accuracy of the first sensor 112 and the second sensor 114. The smaller the acquisition time difference, the higher the synchronization accuracy of the first sensor 112 and the second sensor 114; the larger the acquisition time difference, the lower the synchronization accuracy of the first sensor 112 and the second sensor 114.

[0072] In some embodiments, the rotating object 20 may be set to rotate at a constant speed at different preset speeds (for example, the motor may be set to rotate at different speeds to drive the rotating object 20 to rotate). The larger the preset speed, the larger the phase difference between the first straight line and the second straight line, and the more accurate the calculated acquisition time difference. Thus, by controlling the speed of the rotating object 20, the granularity of the synchronization accuracy may be controlled.

[0073] See also Fig.11 In some embodiments, the first data and the second data each include a plurality of data, the plurality of first data are acquired by the first sensor 112 at a preset frequency, and the plurality of second data are acquired by the second sensor 114 at a preset frequency synchronously; each first data and the second data corresponds to a collection time difference; the data processing method further includes:

[0074] 09: Calculate the average of multiple acquisition time differences as the synchronization time difference.

[0075] See also Fig.12 In some embodiments, the first data and the second data each include a plurality of first data, the plurality of first data are acquired by the first sensor 112 at a preset frequency, and the plurality of second data are acquired by the second sensor 114 at a preset frequency synchronously; each first data and the second data corresponds to an acquisition time difference; the data processing method further includes a fifth processing module 129. Step 09 can be implemented by the fifth processing module 129, that is, the fifth processing module 129 can be used to calculate the average value of the plurality of acquisition time differences as the synchronization time difference.

[0076] In this way, the average value of multiple acquisition time differences can be calculated to reduce the error.

[0077] Specifically, the first sensor 112 can acquire a plurality of first data at a preset frequency, and the second sensor 114 can acquire a plurality of second data synchronously at a preset frequency. The synchronously acquired first data and second data are taken as a group, and the plurality of first data and the plurality of second data constitute a plurality of groups. The first data and the second data of the same group are processed to obtain the first straight line and the second straight line corresponding to the rotating object 20, and the angle corresponding to the first straight line and the second straight line of the same group is calculated as the phase difference. The acquisition time difference corresponding to the group of data can be obtained according to the phase difference. Multiple acquisition time differences can be obtained according to multiple groups of first data and second data, and the synchronization time difference can be obtained by calculating the average value of the multiple acquisition time differences.

[0078] When the synchronization time difference is less than the preset time difference, it can be determined that the synchronization accuracy of the first sensor 112 and the second sensor 114 is higher than the preset accuracy, and the synchronization accuracy of the first sensor 112 and the second sensor 114 has passed the verification. When the synchronization time difference is greater than the preset time difference, it can be determined that the synchronization accuracy of the first sensor 112 and the second sensor 114 is lower than the preset accuracy, and the synchronization accuracy of the first sensor 112 and the second sensor 114 has not passed the verification. The preset time difference can be pre-set, and is not specifically limited here.

[0079] In some embodiments, the first data and the second data are respectively acquired by the first sensor 112 and the second sensor 114 at a preset frequency, and the rotation frequency of the rotating object 20 is less than the preset frequency.

[0080] In this way, the angle between the first straight line and the second straight line can be made more accurate.

[0081] Specifically, the rotation frequency of the rotating object 20 specifically refers to the number of rotations completed by the rotating object 20 in a unit time, and the unit of the rotation frequency is Hz. In one embodiment, the rotation speed of the rotating object 20 is a preset angular velocity ω, and the unit is radians per second, and the rotation frequency of the rotating object 20 is f=ω / 2π. The preset frequency refers to the number of acquisitions completed by the first sensor 112 and the second sensor 114 in a unit time, and the unit of the preset frequency is Hz. In one embodiment, the rotation frequency of the rotating object 20 is 20Hz, and the preset frequency is 30Hz. The rotation frequency of the rotating object 20 is less than the preset frequency, which can avoid the rotating speed of the rotating object 20 being too fast and causing the angle between the first straight line and the second straight line to be inaccurate, for example, avoiding the rotating speed of the rotating object 20 being too fast and rotating n times more (n is a positive integer such as 1, 2, 3, 4), and avoiding the angle that should be n*360°+A° being mistaken for A°.

[0082] See also Figure 4The vehicle 10 of the present invention includes one or more processors 14 and a memory 16. The memory 16 stores a computer program. When the computer program is executed by the processor 14, the steps of the data processing method of any one of the above-mentioned embodiments are implemented.

[0083] For example, when the computer program is executed by the processor 14, the following may be achieved:

[0084] 01: Acquire first data and second data, wherein the first data is acquired by the first sensor 112 collecting scene information of a preset scene, and the second data is acquired by the second sensor 114 synchronously collecting scene information of a preset scene, wherein the preset scene includes a rotating object 20 rotating at a uniform speed;

[0085] 03: Process the first data to obtain a first straight line corresponding to the rotating object 20;

[0086] 05: Process the second data to obtain a second straight line corresponding to the rotating object 20;

[0087] 07: Calculate the angle between the first straight line and the second straight line as the phase difference, and the phase difference is used to characterize the synchronization accuracy of the first sensor 112 and the second sensor 114.

[0088] In the above-mentioned vehicle 10, the first data and the second data are processed to obtain the first straight line and the second straight line corresponding to the rotating object 20, so that the angle between the first straight line and the second straight line can be determined as the phase difference. The synchronization accuracy of the first sensor 112 and the second sensor 114 can be known through the phase difference, thereby improving efficiency.

[0089] See also Fig.13 The computer-readable storage medium 30 of the present invention stores a computer program, which implements the data processing method of any one of the above-mentioned embodiments when executed by the processor 14.

[0090] For example, when the computer program is executed by the processor 14, it can achieve:

[0091] 01: Acquire first data and second data, wherein the first data is acquired by the first sensor 112 collecting scene information of a preset scene, and the second data is acquired by the second sensor 114 synchronously collecting scene information of a preset scene, wherein the preset scene includes a rotating object 20 rotating at a uniform speed;

[0092] 03: Process the first data to obtain a first straight line corresponding to the rotating object 20;

[0093] 05: Process the second data to obtain a second straight line corresponding to the rotating object 20;

[0094] 07: Calculate the angle between the first straight line and the second straight line as the phase difference, and the phase difference is used to characterize the synchronization accuracy of the first sensor 112 and the second sensor 114.

[0095] In the above-mentioned computer-readable storage medium 30, by processing the first data and the second data to obtain the first straight line and the second straight line corresponding to the rotating object 20, the angle between the first straight line and the second straight line can be determined as the phase difference. The synchronization accuracy of the first sensor 112 and the second sensor 114 can be known through the phase difference, thereby improving efficiency.

[0096] In the present invention, the computer program includes computer program code. The computer program code may be in source code form, object code form, executable file or some intermediate form, etc. The memory 16 may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. The processor 14 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0097] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0098] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0099] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0100] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A data processing method, characterized in that: The data processing method comprises: Acquire first data and second data, wherein the first data is obtained by collecting scene information of a preset scene by a first sensor, and the second data is obtained by synchronously collecting scene information of the preset scene by a second sensor, wherein the preset scene includes a rotating object rotating at a uniform speed; Processing the first data to obtain a first straight line corresponding to the rotating object; Processing the second data to obtain a second straight line corresponding to the rotating object; Calculating an angle between the first straight line and the second straight line as a phase difference, wherein the phase difference is used to characterize synchronization accuracy between the first sensor and the second sensor; The rotating object includes a reflective surface, the first sensor includes a first collector, the second sensor includes a second collector, the first collector includes a first optical axis, the second collector includes a second optical axis, and the first optical axis and the second optical axis are both perpendicular to the reflective surface.

2. The data processing method according to claim 1, characterized in that: The first sensor includes a depth sensor, the first data includes point cloud information of the rotating object, and the processing of the first data to obtain a first straight line corresponding to the rotating object includes: Fitting the plane where the rotating object is located according to the point cloud information of the rotating object; Projecting the point cloud information of the rotating object onto the plane to obtain projection points; The projected points are fitted to obtain the first straight line.

3. The data processing method according to claim 1, characterized in that: The second sensor includes a visible light sensor, the second data includes pixel points of the rotating object, and the processing of the second data to obtain a second straight line corresponding to the rotating object includes: Fitting the pixel points of the rotating object to obtain the second straight line.

4. The data processing method according to claim 1, characterized in that: The first straight line includes a first slope, the second straight line includes a second slope, and the calculating the angle between the first straight line and the second straight line as the phase difference includes: The angle between the first straight line and the second straight line is calculated according to the first slope and the second slope to serve as the phase difference.

5. The data processing method according to claim 1, characterized in that: The rotation speed of the rotating object is a preset rotation speed, and the data processing method further includes: The acquisition time difference between the first sensor and the second sensor is calculated according to the phase difference and the preset rotation speed.

6. The data processing method according to claim 5, characterized in that: The first data and the second data each include a plurality of first data, the plurality of first data are acquired by the first sensor at a preset frequency, the plurality of second data are acquired by the second sensor synchronously at the preset frequency, and the rotation frequency of the rotating object is less than the preset frequency; Each of the first data and the second data corresponds to a collection time difference; The data processing method further includes: An average value of a plurality of the acquisition time differences is calculated as the synchronization time difference.

7. A data processing device, characterized in that: The processing device is used to execute the data processing method according to any one of claims 1 to 6, and the data processing device comprises: An acquisition module, the acquisition module is used to acquire first data and second data, the first data is acquired by a first sensor acquiring scene information of a preset scene, and the second data is acquired by a second sensor synchronously acquiring scene information of the preset scene, wherein the preset scene includes a rotating object rotating at a uniform speed; A first processing module, the first processing module is used to process the first data to obtain a first straight line corresponding to the rotating object; a second processing module, the second processing module being used to process the second data to obtain a second straight line corresponding to the rotating object; A third processing module is used to calculate the angle between the first straight line and the second straight line as a phase difference, and the phase difference is used to characterize the synchronization accuracy of the first sensor and the second sensor.

8. A vehicle, characterized in that: The vehicle includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the steps of the data processing method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the data processing method described in any one of claims 1 to 6 is implemented.

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