A method, device, equipment and storage medium for constructing an irregular FOV sensor model

Abstract

The present invention discloses a method, apparatus, device and storage medium for constructing a special-shaped FOV sensor model. The method includes the steps of: obtaining parameters of the special-shaped FOV sensor, where the parameters include: detection type, horizontal FOV of the short-distance range and horizontal FOV of the long-distance range; calculating the coordinates of the key points of the sensor FOV according to the parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the coordinates of the key points of the sensor FOV, where the key points are the boundary points of the detection range of the sensor; constructing a model of the sensor FOV through the boundary of the sensor FOV, and configuring the model of the sensor FOV to generate a model diagram of the sensor FOV. The present application can achieve precise modeling of complex or special-shaped FOV sensors, and the modeling fineness is configurable, greatly improving the applicability of the model under different software and different test requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive simulation testing, and particularly to a method, device, equipment, and storage medium for constructing a special-shaped FOV sensor model. Background Art

[0002] Modeling the sensor object to be simulated or tested in simulation software for intelligent network connection simulation testing is an essential key link in the field of intelligent network connection simulation testing. Currently, there are generally two methods for modeling the sensor detection range (i.e., FOV): The first is to model according to the values in the parameter definition table, which is only applicable to simple FOV definitions, such as when the FOV for all detection targets is the same and there is only one value for the FOV. The second is to obtain the FOV diagram provided by the sensor manufacturer, stretch or compress the diagram horizontally and vertically to obtain a similar aspect ratio, and then import it into the simulation software after format conversion for use. This method is applicable to complex FOV definitions, but if the provided pixel size is small, there will be a large error at a single pixel point in the stretched / compressed diagram.

[0003] Therefore, how to improve the modeling accuracy of special-shaped FOV sensors is a technical problem that urgently needs to be solved at present. Summary of the Invention

[0004] The main object of the present invention is to provide a method, device, equipment, and storage medium for constructing a special-shaped FOV sensor model, which can achieve accurate modeling of complex or special-shaped FOV sensors, and the modeling fineness is configurable, greatly improving the applicability of the model under different software and different test requirements.

[0005] In a first aspect, the present application provides a method for constructing a special-shaped FOV sensor model, the method including the steps of:

[0006] Obtain the parameters of the special-shaped FOV sensor, where the parameters include: detection type, horizontal FOV of the short-distance range, and horizontal FOV of the long-distance range;

[0007] According to the parameters of the special-shaped FOV sensor, calculate the coordinates of the FOV key points of the sensor, and determine the boundary of the sensor FOV through the coordinates of the FOV key points of the sensor, where the key points are the boundary points of the sensor detection range;

[0008] Construct a model of the sensor FOV through the boundary of the sensor FOV, and configure the model of the sensor FOV to generate a model diagram of the sensor FOV.

[0009] Combined with the first aspect above, as an optional implementation manner, according to the parameters of the special-shaped FOV sensor, calculating the coordinates of the key points of the sensor FOV includes the steps:

[0010] Calculating the longitudinal X coordinate and the transverse Y coordinate of the detection type according to the detection type, the horizontal FOV of the short-distance range, and the horizontal FOV of the long-distance range;

[0011] Determining the coordinates of the key points of the sensor FOV according to the longitudinal X coordinate and the transverse Y coordinate of the detection type.

[0012] Combined with the first aspect above, as an optional implementation manner, determining the boundary of the sensor FOV through the coordinates of the key points of the sensor FOV includes the steps:

[0013] Using the algorithm model of the transition region to determine the connection mode between the key points of the sensor FOV, where the connection mode includes linear connection and circular curve connection;

[0014] Connecting the key points of the sensor FOV to form the boundary of the sensor FOV.

[0015] Combined with the first aspect above, as an optional implementation manner, configuring the model of the sensor FOV to generate a model diagram of the sensor FOV includes the steps:

[0016] Setting the resolution of the sensor FOV image according to the accuracy requirement of the model of the sensor FOV;

[0017] Obtaining the boundary coordinates of the sensor FOV according to the boundary of the sensor FOV;

[0018] Performing conversion of the correspondence between distance and pixel points through the boundary coordinates of the sensor FOV and the set resolution of the sensor FOV image, and setting the color of the area within the boundary of the sensor FOV, finally obtaining the model diagram of the sensor FOV.

[0019] Combined with the first aspect above, as an optional implementation manner, setting the area within the boundary to the corresponding color according to the established same color-target type mapping relationship in the simulation software.

[0020] In the second aspect, the present application provides a device for constructing a special-shaped FOV sensor model, and the device includes:

[0021] An acquisition module, which is used to acquire the parameters of the special-shaped FOV sensor, and the parameters include: detection type, horizontal FOV of the short-distance range, and horizontal FOV of the long-distance range;

[0022] A determination module, which is configured to calculate the coordinates of the key points of the sensor FOV according to the parameters of the irregular FOV sensor, and determine the boundary of the sensor FOV through the coordinates of the key points of the sensor FOV, where the key points are the boundary points of the detection range of the sensor;

[0023] A construction module, which is configured to construct a model of the sensor FOV through the boundary of the sensor FOV and configure the model of the sensor FOV to generate a model diagram of the sensor FOV.

[0024] Combined with the second aspect above, as an optional implementation manner, the determination module is further configured to: calculate the longitudinal X coordinate and the transverse Y coordinate of the detection type according to the detection type, the horizontal FOV of the short-distance range, and the horizontal FOV of the long-distance range;

[0025] Determine the coordinates of the key points of the sensor FOV according to the longitudinal X coordinate and the transverse Y coordinate of the detection type.

[0026] Combined with the first aspect above, as an optional implementation manner, the determination module is further configured to: use the algorithm model of the transition area to determine the connection manner between the key points of the sensor FOV, where the connection manner includes linear connection and circular curve connection;

[0027] Connect the key points of the sensor FOV to form the boundary of the sensor FOV.

[0028] In a third aspect, the present application further provides an electronic device, where the electronic device includes: a processor; a memory, and a computer-readable instruction is stored on the memory, and when the computer-readable instruction is executed by the processor, the method described in any item of the first aspect is implemented.

[0029] In a fourth aspect, the present application further provides a computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are executed by a computer, the computer is caused to execute the method described in any item of the first aspect.

[0030] A method, apparatus, device, and storage medium for constructing a special-shaped FOV sensor model provided by the present application. The method includes the steps of: obtaining the parameters of the special-shaped FOV sensor, where the parameters include: detection type, horizontal FOV of the short-distance range, and horizontal FOV of the long-distance range; calculating the coordinates of the sensor FOV key points according to the parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the coordinates of the sensor FOV key points, where the key points are the boundary points of the sensor detection range; constructing the model of the sensor FOV through the boundary of the sensor FOV, and configuring the model of the sensor FOV to generate a model diagram of the sensor FOV. The present application can achieve accurate modeling of complex or special-shaped FOV sensors, and the modeling fineness is configurable, greatly improving the applicability of the model under different software and different test requirements.

[0031] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention.

[0033] Figure 1 It is a flowchart of a method for constructing a special-shaped FOV sensor model provided in an embodiment of the present application;

[0034] Figure 2 It is a schematic diagram of a device for constructing a special-shaped FOV sensor model provided in an embodiment of the present application;

[0035] Figure 3 It is a schematic diagram of a sensor FOV model provided in an embodiment of the present application;

[0036] Figure 4 It is a schematic diagram of an electronic device provided in an embodiment of the present application;

[0037] Figure 5 It is a schematic diagram of a computer-readable program medium provided in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. On the contrary, they are only examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0039] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0040] The embodiments of the present application provide a method, device, equipment and storage medium for constructing a special-shaped FOV sensor model, which can realize accurate modeling of complex or special-shaped FOV sensors, and the modeling fineness is configurable, greatly improving the applicability of the model under different software and different test requirements.

[0041] To achieve the above technical effects, the general idea of the present application is as follows:

[0042] A method for constructing a special-shaped FOV sensor model, the method includes the steps of:

[0043] S101: Obtain the parameters of the special-shaped FOV sensor, where the parameters include: detection type, horizontal FOV in the short-distance range, and horizontal FOV in the long-distance range.

[0044] S102: Calculate the coordinates of the key points of the sensor FOV according to the parameters of the special-shaped FOV sensor, and determine the boundary of the sensor FOV through the coordinates of the key points of the sensor FOV, where the key points are the boundary points of the sensor detection range.

[0045] S103: Construct a model of the sensor FOV through the boundary of the sensor FOV, and configure the model of the sensor FOV to generate a model diagram of the sensor FOV.

[0046] The following further details the embodiments of the present application with reference to the accompanying drawings.

[0047] Refer to Figure 1 , Figure 1 As shown in the flowchart of a method for constructing a special-shaped FOV sensor model provided by the present invention, as Figure 1 shown, the method includes the steps of:

[0048] Step S101: Obtain the parameters of the special-shaped FOV sensor, where the parameters include: detection type, horizontal FOV in the short-distance range, and horizontal FOV in the long-distance range.

[0049] Specifically, obtain the detection type, horizontal FOV in the short-distance range, and horizontal FOV in the long-distance range of the special-shaped FOV sensor, where the detection type can be understood as detecting a passenger car or a motorcycle or other types of vehicles. For example, as shown in Table 1 below:

[0050]

[0051]

[0052] It can be understood that the data obtained by the irregular FOV sensor is the data in the table, and the irregular FOV sensor can also be understood as a complex FOV sensor. In addition, it should be noted that FOV is the detection range of the sensor, that is, FOV.

[0053] Step S102: Calculate the coordinates of the key points of the sensor FOV according to the parameters of the irregular FOV sensor, and determine the boundary of the sensor FOV through the coordinates of the key points of the sensor FOV, where the key points are the boundary points of the detection range of the sensor.

[0054] Specifically, according to the detection type, the horizontal FOV of the short-distance range, and the horizontal FOV of the long-distance range, calculate the longitudinal X coordinate and the transverse Y coordinate of the detection type, and determine the coordinates of the key points of the sensor FOV through the longitudinal X coordinate and the transverse Y coordinate of the detection type. It can be understood that the horizontal and vertical coordinates of the detection type are calculated according to the data in the above table, and the coordinates of the key points of the sensor FOV are determined according to the horizontal and vertical coordinates of the detection type. For easy understanding, an example is given as shown in Table 2 below:

[0055]

[0056] As can be seen from Table 2, the detection type, that is, the key point coordinates of the detection range of the passenger car, the longitudinal x coordinate, and the transverse Y coordinate, are calculated according to the data in Table 1. By calculating the coordinates of the key points of the sensor FOV. It should be noted that the purpose of determining the key points of the FOV is to prepare for subsequent modeling.

[0057] After confirming the key points of the FOV, use the algorithm model of the transition region to determine the connection method between the key points of the sensor FOV, and connect the key points of the sensor FOV to form the boundary of the sensor FOV, where the connection method includes linear connection and circular curve connection.

[0058] It can be understood that after determining the key points, it is necessary to determine what connection method to use. For example, whether to use a linear connection or a circular curve connection between key point 1 and key point 2, and then form the FOV boundary. The key points are the boundary points of the detection range of the sensor. It should be noted that the connection method between two points can also be determined by what connection method to use through the function relationship between the two points.

[0059] It can be understood that, that is, to confirm what method to use to connect between key points 1 and 2 to form the FOV boundary. For example, using a circular curve connection between 5 and 6 is a circular curve model, and the other points are linear models.

[0060] Step S103: Construct a model of the sensor FOV through the boundary of the sensor FOV, and configure the model of the sensor FOV to generate a model diagram of the sensor FOV.

[0061] Specifically, according to the connections between key points, form the FOV boundary, and construct a model of the sensor FOV by forming the FOV boundary. According to the accuracy requirements of the model of the sensor FOV, set the resolution of the sensor FOV image. According to the boundary of the sensor FOV, obtain the boundary coordinates of the sensor FOV. Through the boundary coordinates of the sensor FOV and the set resolution of the sensor FOV image, perform the conversion of the correspondence between distance and pixel points, and set the color of the area within the sensor FOV boundary, and finally obtain the model diagram of the sensor FOV.

[0062] For easy understanding, an example is given. According to the sensor modeling accuracy requirements, set the resolution of the FOV map. For example, when high-precision requirements are met, the map resolution can be set to 1920*X, where X is converted according to the maximum horizontal and vertical coordinates. According to the calculated boundary coordinates and resolution settings, perform the conversion of the correspondence between distance and pixel points, and then set the area within the boundary to the corresponding color, thereby obtaining the FOV map. It should be noted that according to the established same color-target type mapping relationship in the simulation software, set the area within the boundary to the corresponding color. It should be noted that generally, optimization is required before generating the image, and the purpose of adjusting the resolution is to optimize the image.

[0063] Refer to Figure 2 , Figure 2 FIG. shows a schematic diagram of a special-shaped FOV sensor model construction device provided by the present invention. As Figure 2 shown, the device includes:

[0064] An acquisition module 201: It is used to acquire the parameters of the special-shaped FOV sensor, and the parameters include: detection type, horizontal FOV of the short-distance range, and horizontal FOV of the long-distance range.

[0065] A determination module 202: It is used to calculate the coordinates of the key points of the sensor FOV according to the parameters of the special-shaped FOV sensor, and determine the boundary of the sensor FOV through the coordinates of the key points of the sensor FOV, where the key points are the boundary points of the sensor detection range.

[0066] A construction module 203: It is used to construct a model of the sensor FOV through the boundary of the sensor FOV, and configure the model of the sensor FOV to generate a model diagram of the sensor FOV.

[0067] Further, in a possible implementation, the determining module 202 is further configured to: calculate the longitudinal X coordinate and the lateral Y coordinate of the detection type according to the detection type, the horizontal FOV of the short-distance range, and the horizontal FOV of the long-distance range;

[0068] Determine the sensor FOV key point coordinates according to the longitudinal X coordinate and the lateral Y coordinate of the detection type.

[0069] Further, in a possible implementation, the determining module 202 is further configured to: use the algorithm model of the transition region to determine the connection mode between the sensor FOV key points, where the connection mode includes linear connection and circular curve connection;

[0070] Connect the sensor FOV key points to form the boundary of the sensor FOV.

[0071] Further, in a possible implementation, the constructing module 203 is further configured to set the resolution of the sensor FOV image according to the accuracy requirement of the model of the sensor FOV;

[0072] Obtain the boundary coordinates of the sensor FOV according to the boundary of the sensor FOV;

[0073] Perform the conversion of the distance and pixel point correspondence relationship through the boundary coordinates of the sensor FOV and the set resolution of the sensor FOV image, and set the color of the area within the sensor FOV boundary, and finally obtain the model diagram of the sensor FOV.

[0074] Further, in a possible implementation, it further includes a setting module, which is configured to set the area within the boundary to the corresponding color according to the established same color-target type mapping relationship in the simulation software.

[0075] Refer to Figure 3 , Figure 3 The schematic diagram of the sensor FOV model provided by the present invention is shown as Figure 3 shown:

[0076] Taking the detection FOV of a passenger car as an example, the coordinates of 8 key points are shown in the figure. According to the detection type, the horizontal FOV of the short-distance range, and the horizontal FOV of the long-distance range, calculate the longitudinal X coordinate and the lateral Y coordinate of the detection type, and determine the sensor FOV key point coordinates according to the longitudinal X coordinate and the lateral Y coordinate of the detection type.

[0077] It should be noted that the key points are these eight points 1, 2... 8, which can be regarded as connection points. The boundary points are the boundaries formed by the connection between these 8 points, which can be regarded as the boundary contour. Discrete boundary points can be obtained by sampling during the calculation process.

[0078] After determining the coordinates of the key points, using the algorithm model of the transition region, determine whether the key points of the sensor FOV are connected linearly or by a circular curve. As can be seen from the figure, a circular curve is used between key points 5 and 6, and linear connections are used between other points. It should be noted that the close-range mode is the area formed among 7, 5, 6, and 8, while the area formed by the connection between 3, 1, 2, and 4 is the long-range mode.

[0079] It should be noted that for the part of the long-range boundary covered by the close-range boundary, no secondary calculation is required, and the close-range area boundary can be used.

[0080] In addition, the color of the FOV map is the target type, that is, the target type can be determined according to the set color. All FOV detection areas of passenger cars can be in pure red (R = 255, G = 0, B = 0), and similarly, the FOV detection area of motorcycles can be in yellow. After the specific color configuration is completed, the same "color - target type" mapping relationship configuration needs to be established in the simulation software.

[0081] It should be noted that for one kind of target detection, the far and near range areas are combined into one color map; different colors are set for different recognized target types.

[0082] After generating the model diagram, import the model diagram into the software for use, where the simulation software includes VTD (Virtual Test Drive) and TADsim.

[0083] Below, refer to Figure 4 to describe the electronic device 400 according to this embodiment of the present invention. Figure 4 The shown electronic device 400 is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention.

[0084] As Figure 4 shown, the electronic device 400 is presented in the form of a general computing device. The components of the electronic device 400 may include but are not limited to: the above-mentioned at least one processing unit 410, the above-mentioned at least one storage unit 420, and a bus 430 connecting different system components (including the storage unit 420 and the processing unit 410).

[0085] Among them, the storage unit stores program code, and the program code can be executed by the processing unit 410, so that the processing unit 410 executes the steps according to various exemplary embodiments of the present invention described in the "Embodiment Method" part of this specification.

[0086] The storage unit 420 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 421 and / or a cache storage unit 422, and may further include a read-only storage unit (ROM) 423.

[0087] The storage unit 420 may also include a program / utilities 424 having a set (at least one) of program modules 425. Such program modules 425 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment.

[0088] The bus 430 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus structures.

[0089] The electronic device 400 may also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 400, and / or may communicate with any device that enables the electronic device 400 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication may be carried out through an input / output (I / O) interface 450. Also, the electronic device 400 may communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 460. As shown in the figure, the network adapter 460 communicates with other modules of the electronic device 400 through the bus 430. It should be understood that although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0090] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0091] According to the solution of the present disclosure, there is also provided a computer-readable storage medium, on which a program product capable of implementing the above-mentioned method of this specification is stored. In some possible implementation manners, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above-mentioned "Exemplary Method" section of this specification.

[0092] Reference Figure 5 As shown, a program product 500 for implementing the above-mentioned method according to an embodiment of the present invention is described. It can be a portable compact disc read-only memory (CD-ROM) and includes program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited to this. In this document, a readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0093] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0094] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium can also be any readable medium other than the readable storage medium, and this readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0095] The program code contained on the readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0096] The program code for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0097] In addition, the above-mentioned drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present invention, rather than for limiting purposes. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the chronological order of these processes. Additionally, it is also easy to understand that these processes can be executed synchronously or asynchronously in, for example, multiple modules.

[0098] In summary, the present application provides a method, apparatus, device, and storage medium for constructing a special-shaped FOV sensor model. The method includes the steps of: obtaining the parameters of the special-shaped FOV sensor, where the parameters include: detection type, horizontal FOV of the close-distance range, and horizontal FOV of the long-distance range; calculating the coordinates of the sensor FOV key points according to the parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the coordinates of the sensor FOV key points, where the key points are the boundary points of the sensor detection range; constructing the model of the sensor FOV through the boundary of the sensor FOV, and configuring the model of the sensor FOV to generate a model diagram of the sensor FOV. The present application can achieve precise modeling of complex or special-shaped FOV sensors, and the modeling fineness is configurable, greatly improving the applicability of the model under different software and different test requirements.

[0099] The above description is only the specific implementation manners of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will conform to the widest scope consistent with the principles and novel features claimed herein.

[0100] The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device create means for implementing the functions specified in one flow or more flows and / or one block or more blocks. Figure 1 in one flow or more flows and / or one block or more blocks Figure 1 specified in the flowchart illustrations and / or block diagrams.

Claims

1. A method for constructing a special-shaped FOV sensor model, characterized in that, it includes: Obtain the parameters of the special-shaped FOV sensor, and the parameters include: detection type, horizontal FOV in the short-distance range, and horizontal FOV in the long-distance range; According to the parameters of the special-shaped FOV sensor, calculate the coordinates of the key points of the sensor FOV, and determine the boundary of the sensor FOV through the coordinates of the key points of the sensor FOV, where the key points are the boundary points of the sensor detection range; Construct the model of the sensor FOV through the boundary of the sensor FOV, and configure the model of the sensor FOV to generate a model diagram of the sensor FOV; Among them, according to the accuracy requirement of the model of the sensor FOV, set the resolution of the sensor FOV image; According to the boundary of the sensor FOV, obtain the boundary coordinates of the sensor FOV; Perform conversion of the corresponding relationship between distance and pixel points through the boundary coordinates of the sensor FOV and the set resolution of the sensor FOV image, and set the color of the area within the boundary of the sensor FOV, and finally obtain the model diagram of the sensor FOV.

2. The method according to claim 1, characterized in that, Calculating the coordinates of the key points of the sensor FOV according to the parameters of the special-shaped FOV sensor includes: Calculate the longitudinal X coordinate and transverse Y coordinate of the detection type according to the detection type, horizontal FOV in the short-distance range, and horizontal FOV in the long-distance range; Determine the coordinates of the key points of the sensor FOV according to the longitudinal X coordinate and transverse Y coordinate of the detection type.

3. The method according to claim 1, characterized in that, Determining the boundary of the sensor FOV through the coordinates of the key points of the sensor FOV includes: Use the algorithm model of the transition region to determine the connection method between the key points of the sensor FOV, where the connection method includes linear connection and circular curve connection; Connect the key points of the sensor FOV to form the boundary of the sensor FOV.

4. The method according to claim 1, characterized in that, The setting of the color of the area within the boundary of the sensor FOV includes: According to the established same color-target type mapping relationship in the simulation software, set the area within the boundary to the corresponding color.

5. A device for constructing a special-shaped FOV sensor model, characterized in that, it includes: An acquisition module for acquiring the parameters of the special-shaped FOV sensor, and the parameters include: detection type, horizontal FOV in the short-distance range, and horizontal FOV in the long-distance range; A determination module for calculating the coordinates of the key points of the sensor FOV according to the parameters of the special-shaped FOV sensor, and determining the boundary of the sensor FOV through the coordinates of the key points of the sensor FOV, where the key points are the boundary points of the sensor detection range; A construction module for constructing the model of the sensor FOV through the boundary of the sensor FOV, and configuring the model of the sensor FOV to generate a model diagram of the sensor FOV; Among them, the resolution of the sensor FOV image is set according to the accuracy requirement of the model of the sensor FOV. According to the boundary of the sensor FOV, the boundary coordinates of the sensor FOV are obtained. Through the boundary coordinates of the sensor FOV and the resolution of the set sensor FOV image, the conversion of the correspondence between distance and pixel points is carried out, and the color of the area within the sensor FOV boundary is set, and finally the model diagram of the sensor FOV is obtained.

6. The device according to claim 5, wherein, the determining module is further configured to: calculate the longitudinal X coordinate and the transverse Y coordinate of the detection type according to the detection type, the horizontal FOV of the short-distance range, and the horizontal FOV of the long-distance range; determine the key point coordinates of the sensor FOV according to the longitudinal X coordinate and the transverse Y coordinate of the detection type.

7. The device according to claim 5, wherein, the determining module is further configured to: use the algorithm model of the transition region to determine the connection mode between the key points of the sensor FOV, where the connection mode includes linear connection and circular curve connection; connect the key points of the sensor FOV to form the boundary of the sensor FOV.

8. An electronic device, wherein, the electronic device includes: a processor; a memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 4 is implemented.

9. A computer-readable storage medium, wherein, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer is made to execute the method according to any one of claims 1 to 4.

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