Correction method and device, electronic equipment and program product

Abstract

The invention discloses a correction method especially used for correcting a retroreflection brightness coefficient, and the method comprises the steps: obtaining a to-be-corrected original retroreflection brightness coefficient determined according to marking detection data, at least one part of the marking detection data is obtained under the condition of projection light, and the projection light has a calibrated projection distance; acquiring an actual projection distance of the projection light projected to a detected position when the marking line detection data is acquired; determining a distance correction coefficient according to the calibrated projection distance and the actual projection distance; and correcting the original retroreflection brightness coefficient to be corrected according to the distance correction coefficient so as to obtain the retroreflection brightness coefficient subjected to distance correction. The invention further discloses another correction method based on ambient light correction. In addition, the invention also discloses a related correction device, electronic equipment and a program product.

Description

Technical Field

[0001] The present application relates to the field of highway transportation, and in particular to a correction method and device, electronic equipment and program product, especially for retroreflection brightness coefficient. Background Art

[0002] Road traffic markings are key traffic control facilities painted on the road surface, which are designed to channel traffic flow, guide vehicle alignment, and ensure traffic safety. These markings have multiple functions of defining lane boundaries, regulating and managing driver driving behavior, guiding driver vision, indicating and warning road conditions ahead, and clarifying the right of way.

[0003] After being rolled over for a long time, the road traffic markings have poor reflectivity at night, reduced visibility, and potential safety hazards. In order to ensure the safety and visibility of road markings, they need to be regularly inspected and evaluated for timely maintenance. An important criterion for judging whether road markings need maintenance is the retro-reflective brightness coefficient of road traffic markings, which can also be referred to as the retro-reflective brightness coefficient.

[0004] Currently, a variety of solutions have been proposed to measure the retro-reflective brightness coefficient of road traffic markings. However, although the non-contact measurement of vehicle-mounted equipment is fast and efficient, the measured retro-reflective brightness coefficient of road traffic markings is often affected by factors such as vehicle posture changes and ambient light interference, resulting in insufficient accuracy.

[0005] In view of this, the industry hopes to provide a solution that effectively improves the detection accuracy of the retro-reflective brightness coefficient of road traffic markings.

[0006] The content of this background technology description is only for facilitating understanding of the relevant technology in this field and is not regarded as an admission of the prior art. Summary of the invention

[0007] Therefore, the embodiments of the present application hope to provide a solution that can effectively improve the accuracy of detecting the retro-reflective brightness coefficient of road traffic markings.

[0008] In a first aspect, a correction method is provided, in particular for correcting a retroreflective brightness coefficient, comprising:

[0009] Acquiring an original retroreflective brightness coefficient to be corrected determined based on line detection data, wherein at least a portion of the line detection data is obtained under the condition of projected light having a calibrated projection distance;

[0010] Acquire the actual projection distance of the projection light to the detected position when obtaining the marking line detection data;

[0011] Determine a distance correction coefficient according to the calibrated projection distance and the actual projection distance;

[0012] The original retroreflection brightness coefficient to be corrected is corrected according to the distance correction coefficient to obtain a distance-corrected retroreflection brightness coefficient.

[0013] Optionally, determining a distance correction coefficient according to the calibrated projection distance and the actual projection distance includes:

[0014] Determine the distance correction factor K according to the following formula D :

[0015] K D =D 2 / D N 2 , where D is the actual projection distance, D N To calibrate the projection distance.

[0016] Optionally, the original retroreflection brightness coefficient to be corrected is determined by the following steps:

[0017] Acquire a grayscale difference of a marking line determined based on a first image acquired without projecting light and a second image acquired with projecting light in the marking line detection data;

[0018] Obtain the standard value of the retroreflective brightness coefficient corresponding to a given marking standard plate;

[0019] Obtaining a standard grayscale difference corresponding to the given marking standard plate; determining the original retroreflection brightness coefficient to be corrected according to the marking grayscale difference, the standard grayscale difference and the retroreflection brightness coefficient standard value.

[0020] Optionally, the correction method further includes:

[0021] Acquiring ambient light parameters when obtaining the marking line detection data;

[0022] determining an ambient light correction coefficient according to the ambient light parameter;

[0023] The distance-corrected retroreflection luminance coefficient is corrected according to the ambient light correction coefficient to obtain a distance-corrected and ambient light-corrected retroreflection luminance coefficient.

[0024] In a second aspect, a correction method is provided, in particular for correcting a retroreflective brightness coefficient, comprising:

[0025] Obtaining an original retroreflection brightness coefficient to be corrected determined according to the marking line detection data;

[0026] Acquiring ambient light parameters when obtaining the marking line detection data;

[0027] determining an ambient light correction coefficient according to the ambient light parameter;

[0028] The original retroreflection brightness coefficient to be corrected is corrected according to the ambient light correction coefficient to obtain the retroreflection brightness coefficient corrected for ambient light.

[0029] In a third aspect, there is provided a correction device, in particular for correcting a retroreflective brightness coefficient, comprising:

[0030] a first acquisition unit configured to acquire an original retroreflective brightness coefficient to be corrected determined according to mark line detection data, wherein at least a portion of the mark line detection data is obtained under the condition of projected light, the projected light having a calibrated projection distance;

[0031] A second acquisition unit is configured to acquire an actual projection distance of the projection light to the detected position when obtaining the marking line detection data;

[0032] A first determining unit, configured to determine a distance correction coefficient according to the calibrated projection distance and the actual projection distance;

[0033] The first correction unit is configured to correct the original retroreflection brightness coefficient to be corrected according to the distance correction coefficient to obtain the retroreflection brightness coefficient corrected by distance.

[0034] Optionally, the correction device further includes:

[0035] a third acquisition unit configured to acquire a distance-corrected retroreflection brightness coefficient;

[0036] a second determining unit, configured to determine an ambient light correction coefficient according to the ambient light parameter;

[0037] The second correction unit is configured to correct the distance-corrected retroreflection brightness coefficient according to the ambient light correction coefficient to obtain a distance-corrected and ambient light-corrected retroreflection brightness coefficient.

[0038] In a fourth aspect, there is provided a correction device, in particular for correcting a retroreflective brightness coefficient, comprising:

[0039] A first acquisition unit is configured to acquire an original retroreflection brightness coefficient to be corrected determined according to the marking line detection data;

[0040] A third acquisition unit is configured to acquire an ambient light parameter when obtaining the marking line detection data;

[0041] a second determining unit, configured to determine an ambient light correction coefficient according to the ambient light parameter;

[0042] The second correction unit is configured to correct the original retroreflection brightness coefficient to be corrected according to the ambient light correction coefficient to obtain the retroreflection brightness coefficient corrected by the ambient light.

[0043] In a fifth aspect, an electronic device is provided, comprising: a processor and a memory storing a computer program, wherein the processor is configured to implement the method of an embodiment of the present application when running the computer program.

[0044] In a sixth aspect, a program product is provided, comprising a computer program, wherein the computer program implements the method of the embodiment of the present application when executed by a processor.

[0045] The correction method provided in the embodiments of the present application is particularly for correcting the retroreflection brightness coefficient. By obtaining the original retroreflection brightness coefficient to be corrected determined according to the marking detection data, the actual projection distance of the projection light to the detected position when the marking detection data is obtained is obtained, and the distance correction coefficient is determined according to the calibrated projection distance and the actual projection distance. According to the distance correction coefficient, the original retroreflection brightness coefficient to be corrected is corrected, thereby effectively correcting the influence of external factors, thereby obtaining a highly accurate retroreflection brightness coefficient of road traffic markings.

[0046] The optional features and other effects of the embodiments of the present application are partially described below, and partially can be understood by reading this document. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Hereinafter, embodiments of the present application will be described in detail in conjunction with the accompanying drawings. The elements shown are not limited to the proportions shown in the drawings and the same or similar reference numerals in the drawings represent the same or similar elements, wherein:

[0048] Figure 1 A first exemplary flow chart of a calibration method according to an embodiment of the present application is shown;

[0049] Figure 2 A second exemplary flow chart of a correction method according to an embodiment of the present application is shown;

[0050] Figure 3 A third exemplary flow chart of a calibration method according to an embodiment of the present application is shown;

[0051] Figure 4 An exemplary flow chart of a calibration method according to another embodiment of the present application is shown;

[0052] Figure 5 One of the exemplary module diagrams of the correction device according to an embodiment of the present application is shown;

[0053] Figure 6 A second exemplary module diagram of a calibration device according to an embodiment of the present application is shown;

[0054] Figure 7An exemplary module diagram of a calibration device according to another embodiment of the present application is shown; and

[0055] Figure 8 A structural diagram of an electronic device that can be used to implement the correction method according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with specific implementation methods and drawings. Here, the illustrative implementation methods and descriptions of the present application are used to explain the present application, but are not intended to limit the present application.

[0057] The term "including" and its variations used in this document represent open inclusion, that is, "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one other embodiment". In order to facilitate the understanding of this specification, the sequential terms "first", "second", etc. are used in this document to distinguish different elements / items / objects, and do not indicate the order or importance of different elements / items / objects. In particular, the method steps represented by the terms "first", "second", etc. are not used to indicate the order of method execution; when an embodiment contains elements / items / objects represented in a later order, the elements / items / objects represented by the terms "first", "second", etc. in the previous order are not necessarily essential technical features of the embodiment.

[0058] As mentioned above, it is currently desired to provide a solution that can effectively improve the accuracy of the measured retro-reflective brightness coefficient of road traffic markings.

[0059] In the examples of this application, refer to Figure 1 , a correction method is provided, which may at least include the following S110 to S140:

[0060] S110: Acquire an original retroreflective brightness coefficient to be corrected determined according to marking line detection data, wherein at least a portion of the marking line detection data is obtained under the condition of projected light, and the projected light has a calibrated projection distance.

[0061] In the embodiments of the present application, the road marking detection data may be obtained through a variety of means and methods, such as real-time acquisition through, including but not limited to, a handheld road marking detection device or a vehicle-mounted road marking detection device, or querying existing historical road marking detection data from a database, etc., and the present application does not impose any restrictions on this.

[0062] In this embodiment, the calibrated projection distance is a calibrated distance value preset when acquiring the marking detection data, for example, a predetermined distance between the marking detection data acquisition device and the marking area to be measured. In this embodiment, the projection light includes but is not limited to LED light, laser, halogen lamp, etc., and this application does not limit this.

[0063] In some embodiments of the present application, the original retroreflective brightness coefficient to be corrected may be determined during or after the marking line detection. Figure 2 As shown, in some embodiments of the present application, the determination of the original retroreflective brightness coefficient to be corrected may include the following steps S111-S114:

[0064] S111: Obtaining a grayscale difference of a marking line determined based on a first image acquired without projecting light and a second image acquired with projecting light in the marking line detection data.

[0065] In this embodiment, the grayscale values ​​of the reticle images obtained without projecting light in the reticle detection data can be determined respectively, and the reticle grayscale difference between the two can be calculated. In one example, the grayscale value B1 of the first image without projecting light and the grayscale value B2 of the second image with projecting light can be determined, and the reticle grayscale difference B=B1-B2.

[0066] S112: Obtaining a standard value of the retroreflective brightness coefficient corresponding to a given marking standard plate.

[0067] In this embodiment, the standard value of the retroreflective brightness coefficient includes a reference value of the retroreflective brightness coefficient carried by the marking standard plate and measured in a standardized manner, which can provide a reference benchmark for marking detection.

[0068] S113: Obtaining a standard grayscale difference corresponding to a given graticule standard plate.

[0069] In some embodiments of the present application, for example, in the above step S113, the standard grayscale difference corresponding to a given reticle standard plate can be determined based on the third image collected without projecting light and the fourth image collected with projecting light in the reticle standard plate detection data. In one example, the grayscale value B3 of the third image of the reticle standard plate without projecting light and the grayscale value B4 of the fourth image of the reticle standard plate with projecting light can be determined, and the reticle grayscale difference B'=B3-B4.

[0070] In some other embodiments of the present application, the standard grayscale difference corresponding to the given marking standard plate may be obtained by other means. For example, a known or stored standard grayscale difference may be obtained by looking up a table or a database, and the present application does not impose any limitation on this.

[0071] Here, it will be understood that steps S112 and S113 are only functionally distinguished between two steps, and do not imply that the two steps are arranged in a given order, nor do they imply that the two steps need to be performed separately. In some embodiments, it may be advantageous to perform the two steps in parallel.

[0072] S114: Determine the original retroreflection brightness coefficient to be corrected according to the marking line grayscale difference, the standard grayscale difference and the standard value of the retroreflection brightness coefficient.

[0073] In the embodiment of the present application, a variety of methods can be used to calculate and determine the original retroreflection brightness coefficient based on the marking line grayscale difference, the standard grayscale difference and the standard value of the retroreflection brightness coefficient.

[0074] In a specific embodiment of the present application, the obtained grayscale difference of the marking line is B, and the standard grayscale difference B' of the marking line standard plate is B 150 The standard value of the retroreflective brightness coefficient of the given marking standard plate is RL s =150mcd / m 2 / lx, then the retroreflection brightness coefficient to be corrected is RL raw =B*RL s / B 150 .

[0075] S120: Acquire the actual projection distance of the projection light to the detected position when obtaining the marking line detection data.

[0076] In the embodiment of the present application, the actual projection distance from the light source position of the projected light to the position of the detected reticle where the projected light is actually projected can be obtained. As an explanation but not limitation, when performing reticle detection, the above-mentioned actual projection distance may change the horizontal and vertical distances between the reticle detection and the reticle due to, but not limited to, changes in the height of the position of the detected reticle, plane tilt, and light source offset of the projected light, so that the actual projection distance deviates from the preset calibration distance.

[0077] In some embodiments of the present application, methods for obtaining the actual projection distance include but are not limited to laser ranging, image analysis, etc., and the present application does not impose any restrictions on this.

[0078] S130: Determine a distance correction coefficient according to the calibrated projection distance and the actual projection distance.

[0079] In the embodiment of the present application, a variety of methods can be used to calculate the distance correction coefficient using the actual projection distance obtained and the preset calibrated projection distance, for example:

[0080] In some embodiments of the present application, determining the distance correction coefficient according to the calibrated projection distance and the actual projection distance may include:

[0081] Determine the distance correction coefficient K according to the following formula (1): D :

[0082] K D = D 2 / D N 2 (1)

[0083] Where D is the actual projection distance, D N To calibrate the projection distance.

[0084] S140: Correcting the original retroreflection brightness coefficient to be corrected according to the distance correction coefficient to obtain a distance-corrected retroreflection brightness coefficient.

[0085] In the embodiment of the present application, the distance correction coefficient K can be used D The retroreflection brightness coefficient to be corrected is RL raw Correction, including but not limited to RL raw Directly multiply by the distance correction factor K D To determine the distance-corrected retroreflection brightness coefficient, etc.

[0086] The correction method provided in the embodiments of the present application is particularly for correcting the retroreflection brightness coefficient. By obtaining the original retroreflection brightness coefficient to be corrected determined according to the marking detection data, the actual projection distance of the projection light to the detected position when the marking detection data is obtained is obtained, and the distance correction coefficient is determined according to the calibrated projection distance and the actual projection distance. According to the distance correction coefficient, the original retroreflection brightness coefficient to be corrected is corrected. This can effectively correct external interference factors, such as the influence of height changes of the marking detection position caused by changes in vehicle posture, plane inclination, etc. on the determination of the retroreflection brightness coefficient, thereby obtaining a highly accurate retroreflection brightness coefficient of road traffic markings.

[0087] The correction method provided in the embodiments of the present application can also be advantageously combined with any existing retroreflection brightness coefficient determination scheme and / or marking detection device. For example, a known retroreflection brightness coefficient measurement device for ordinary light projection can be modified and a distance sensing unit can be added to determine the actual distance of the light projection, so that in the subsequent retroreflection brightness coefficient determination process, the retroreflection brightness coefficient value determined by the known measuring device can be more accurately corrected.

[0088] In a further embodiment of the present application, the inventors further considered the influence of ambient light on the measurement of retroreflective brightness coefficient. The inventors found that some ambient light still remained in the grayscale difference, especially under natural light environment.

[0089] Accordingly, in some embodiments of the present application, in order to completely eliminate the influence of ambient light, a correction method is also provided. The correction method can be used independently or in combination with the method of steps S110-S140 above. The following will describe the correction method for ambient light in the context of the combination of the two.

[0090] In some embodiments of the present application, during, before or after the above steps S110-S140, as Figure 3 As shown, the method may further include the following steps S150-S170:

[0091] S150: Acquire ambient light parameters when obtaining marking line detection data.

[0092] In some embodiments of the present application, the ambient light parameters include, for example, ambient light illumination (E) when obtaining marking line detection data. In other embodiments, ambient light parameters such as ambient spectral distribution or ambient light incident angle may also be obtained.

[0093] S160: Determine an ambient light correction coefficient according to the ambient light parameter.

[0094] In some embodiments of the present application, the ambient light correction coefficient K can be determined according to the ambient light parameters. E In one example, the ambient light parameter is, for example, ambient light illuminance E. The ambient light illuminance E, grayscale difference B, and retroreflection brightness coefficient standard value R can be obtained and analyzed. L *The correlation between them can be characterized by the model / algorithm f(E) and the ambient light correction coefficient K is determined E =f(E), wherein the grayscale difference B is determined, for example, by the aforementioned steps S111-S113.

[0095] In this embodiment, it will be understood that according to the obtained change of, for example, the ambient light illumination E, the ambient light correction coefficient can be dynamically changed to dynamically reflect the influence of the ambient light when obtaining the marking line detection data.

[0096] S170: Correcting the distance-corrected retroreflection brightness coefficient according to the ambient light correction coefficient to obtain a distance-corrected and ambient light-corrected retroreflection brightness coefficient.

[0097] In some embodiments of the application, the distance-corrected and ambient-light-corrected retroreflection brightness coefficient can be further determined based on the known distance-corrected retroreflection brightness coefficient using the ambient light correction coefficient. In this embodiment, the distance-corrected retroreflection brightness coefficient is determined, for example, by the above S110-S140.

[0098] In one embodiment, the distance-corrected and ambient-light-corrected retroreflection brightness coefficient is RL=K D*K E *RL raw =D 2 / D N 2 *f(E)*(B1-B2)*RL s / B 150 , where the RL raw is the uncorrected raw retroreflection brightness coefficient, the K D is the distance correction coefficient, the K E is the ambient light correction coefficient, the K D For example, it is determined through the aforementioned steps S110-S140, the K E For example, it is determined through the aforementioned steps S150 - 160 . For the description of the determination steps, reference can be made to the description of the aforementioned embodiment, and no further details are given here.

[0099] However, it is understandable that the numbering of steps S150-S170 in the above embodiments of the present application is only for distinction, and does not imply that the steps S150-S170 can only be performed after the aforementioned steps S110-S140. In some embodiments, it may be beneficial to perform the aforementioned steps S150-S170 first.

[0100] In this embodiment of the present application, the ambient light correction coefficient K E =f(E) is introduced to dynamically determine the residual influence of ambient light on the retroreflection brightness coefficient based on the acquired ambient light illumination E, realize dynamic detection and correction of the retroreflection brightness coefficient, and advantageously further eliminate the influence of ambient light.

[0101] And as mentioned above, the correction method related to ambient light in the present application can also be used independently.

[0102] Accordingly, in some embodiments of the present application, Figure 4 A calibration method is also provided, which may at least include the following steps S410-S440:

[0103] S410: Obtaining the original retroreflection brightness coefficient to be corrected determined according to the marking line detection data.

[0104] In the embodiment of the present application, the specific description of the above-mentioned step S410 can refer to the relevant description in the above-mentioned step S110, which will not be repeated here.

[0105] S420: Acquire ambient light parameters when obtaining marking line detection data.

[0106] S430: Determine an ambient light correction coefficient according to the ambient light parameter.

[0107] In the embodiment of the present application, the specific description of the above steps S420-S430 can refer to the relevant description in the aforementioned steps S150-S160, which will not be repeated here.

[0108] S440: Correcting the original retroreflection brightness coefficient to be corrected according to the ambient light correction coefficient to obtain the retroreflection brightness coefficient corrected for ambient light.

[0109] In an embodiment of the present application, the ambient light correction coefficient can be used to correct the original retroreflection brightness coefficient to be corrected, wherein the original retroreflection brightness coefficient to be corrected can be obtained by a variety of means, including but not limited to the original retroreflection brightness coefficient without any correction, and the original retroreflection brightness coefficient after other correction means, such as the distance correction described in the above embodiments of the present application, and the present application does not impose any restrictions on this.

[0110] The correction method provided in the embodiment of the present application can advantageously eliminate the influence of ambient light on the retroreflection brightness coefficient, and can also be advantageously combined with any existing retroreflection brightness coefficient determination scheme and / or marking detection device to more accurately correct the retroreflection brightness coefficient value determined by a known measuring device.

[0111] In some embodiments of the present application, Figure 5 As shown, a correction device 500 is also provided, which may include: a first acquisition unit 510, a second acquisition unit 520, a first determination unit 530 and a first correction unit 540. Among them:

[0112] The first acquisition unit 510 is configured to acquire an original retroreflective brightness coefficient to be corrected determined according to marking line detection data, wherein at least a portion of the marking line detection data is obtained under the condition of projected light having a calibrated projection distance.

[0113] The second acquisition unit 520 is configured to acquire an actual projection distance of the projection light to the detected position when obtaining the marking line detection data.

[0114] The first determining unit 530 is configured to determine a distance correction coefficient according to a calibrated projection distance and an actual projection distance.

[0115] The first correction unit 540 is configured to correct the original retroreflection brightness coefficient to be corrected according to the distance correction coefficient to obtain the retroreflection brightness coefficient corrected by the distance.

[0116] In some embodiments of the present application, reference Figure 6 , the correction device 500 may further include: a third acquisition unit 550, a second determination unit 560 and a second correction unit 570, wherein:

[0117] The third acquisition unit 550 is configured to acquire the distance-corrected retroreflection brightness coefficient.

[0118] The second determining unit 560 is configured to determine an ambient light correction coefficient according to the ambient light parameter.

[0119] The second correction unit 570 is configured to correct the distance-corrected retroreflection brightness coefficient according to the ambient light correction coefficient to obtain a distance-corrected and ambient light-corrected retroreflection brightness coefficient.

[0120] In other embodiments of the present application, Figure 7 As shown, a correction device 700 is also provided, which may include: a first acquisition unit 710, a fourth acquisition unit 720, a second determination unit 730 and a second correction unit 740, wherein:

[0121] The first acquisition unit 710 is configured to acquire the original retroreflection brightness coefficient to be corrected determined according to the marking line detection data.

[0122] The fourth acquisition unit 720 is configured to acquire ambient light parameters when obtaining marking line detection data.

[0123] The second determining unit 730 is configured to determine an ambient light correction coefficient according to the ambient light parameter.

[0124] The second correction unit 740 is configured to correct the original retroreflection brightness coefficient to be corrected according to the ambient light correction coefficient to obtain the retroreflection brightness coefficient corrected for ambient light.

[0125] Under the guidance of the embodiments of the present application, the features of the method embodiments of the present application can be combined with the device embodiments in a non-contradictory manner to obtain new embodiments, and the features of the device embodiments can also be combined with the method embodiments in a non-contradictory manner to obtain new embodiments, which falls within the scope of the present application.

[0126] In the embodiment of the present application, the correction method and device can be implemented by an electronic device integrating relevant functional modules or components. Figure 8 A structural diagram of an electronic device that can be used to implement the method and device for dynamically detecting visibility of markings in an embodiment of the present application is shown.

[0127] like Figure 8As shown, the electronic device 800 includes a processor 801, which can perform various appropriate operations and processes according to the programs and / or data stored in the read-only memory (ROM) 802 or the programs and / or data loaded from the storage part 808 to the random access memory (RAM) 803. The processor 801 may include a central processing unit (CPU), and may be a multi-core processor, or may include multiple processors. In some embodiments, the processor 801 may include a general-purpose main processor and one or more special coprocessors, such as a graphics processing unit (GPU), a neural network processor (NPU), a digital signal processor (DSP), etc. In RAM 803, various programs and data required for the operation of the electronic device 800 are also stored. The processor 801, ROM 802 and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0128] The processor and the memory are used together to execute the program stored in the memory. When the program is executed by the computer, the steps or functions of the given spacing determination method based on the marking line retroreflection detection model described in the above embodiments can be realized.

[0129] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, a touch screen, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, a modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed, so that a computer program read therefrom is installed into the storage section 808 as needed. Figure 8 Only some components are schematically shown in the figure, which does not mean that the computer system 800 only includes Figure 8 Components shown.

[0130] In some embodiments, the computer 800 refers to a mobile terminal, including a mobile phone, a car terminal, etc. Taking a mobile phone as an example, the electronic device 800 also includes a display screen with a touch function, an external speaker, a gyroscope, a camera, a 4G / 5G antenna and other device modules.

[0131] The systems, devices, modules or units described in the above embodiments may be implemented by the computer or its associated components. The computer may be, for example, a mobile terminal, a personal computer, a laptop computer, a vehicle-mounted human-computer interaction device, a personal digital assistant, a media player, a navigation device, a tablet computer, or a combination thereof.

[0132] Although not shown, in an embodiment of the present application, a storage medium is provided, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0133] Although not shown, in an embodiment of the present application, a program product is provided, which includes a computer program, and when the computer program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0134] The storage media in the embodiments of the present application include permanent and non-permanent, removable and non-removable items that can be used to store information by any method or technology. Examples of storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0135] The methods, programs, systems, devices, etc. of the embodiments of the present application may be executed or implemented in a single or multiple networked computers, or may be practiced in a distributed computing environment. In the embodiments of the present specification, in these distributed computing environments, tasks may be performed by remote processing devices connected via a communication network.

[0136] Unless explicitly stated, the actions or steps of the methods, programs, and embodiments of the present application do not have to be performed in a specific order and can still achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0137] In this article, multiple embodiments of the present application are described, but for the sake of simplicity, the description of each embodiment is not exhaustive, and the same or similar features or parts between the various embodiments may be omitted. In this article, "one embodiment", "some embodiments", "example", "specific example", or "some examples" are intended to be applicable to at least one embodiment or example according to the present application, rather than all embodiments. The above terms do not necessarily mean to refer to the same embodiment or example. In the absence of mutual contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0138] The exemplary systems and methods of the present application have been specifically shown and described with reference to the above embodiments, which are merely examples of the best modes for implementing the present systems and methods. It will be appreciated by those skilled in the art that various changes may be made to the embodiments of the systems and methods described herein when implementing the present systems and / or methods without departing from the spirit and scope of the present application as defined in the appended claims.

Claims

1. A calibration method, characterized in that: include: Acquiring an original retroreflective brightness coefficient to be corrected determined based on line detection data, wherein at least a portion of the line detection data is obtained under the condition of projected light having a calibrated projection distance; Acquire the actual projection distance of the projection light to the detected position when obtaining the marking line detection data; Determine a distance correction coefficient according to the calibrated projection distance and the actual projection distance; The original retroreflection brightness coefficient to be corrected is corrected according to the distance correction coefficient to obtain a distance-corrected retroreflection brightness coefficient.

2. The calibration method according to claim 1, characterized in that: The determining of the distance correction coefficient according to the calibrated projection distance and the actual projection distance includes: Determine the distance correction factor K according to the following formula D : K D =D 2 / D N 2 , where D is the actual projection distance, D N To calibrate the projection distance.

3. The calibration method according to claim 1, characterized in that: The original retroreflection brightness coefficient to be corrected is determined by the following steps: Acquire a grayscale difference of a marking line determined based on a first image acquired without projecting light and a second image acquired with projecting light in the marking line detection data; Obtain the standard value of the retroreflective brightness coefficient corresponding to a given marking standard plate; Obtaining a standard grayscale difference corresponding to the given graticule standard plate; The original retroreflection brightness coefficient to be corrected is determined according to the marking line grayscale difference, the standard grayscale difference and the standard value of the retroreflection brightness coefficient.

4. The calibration method according to any one of claims 1 to 3, characterized in that: The correction method also includes: Acquiring ambient light parameters when obtaining the marking line detection data; determining an ambient light correction coefficient according to the ambient light parameter; The distance-corrected retroreflection brightness coefficient is corrected according to the ambient light correction coefficient to obtain a distance-corrected and ambient light-corrected retroreflection brightness coefficient.

5. A calibration method, characterized in that: include: Obtaining an original retroreflection brightness coefficient to be corrected determined according to the marking line detection data; Acquiring ambient light parameters when obtaining the marking line detection data; determining an ambient light correction coefficient according to the ambient light parameter; The original retroreflection brightness coefficient to be corrected is corrected according to the ambient light correction coefficient to obtain the retroreflection brightness coefficient corrected for ambient light.

6. A calibration device, characterized in that: include: a first acquisition unit configured to acquire an original retroreflective brightness coefficient to be corrected determined according to mark line detection data, wherein at least a portion of the mark line detection data is obtained under the condition of projected light, the projected light having a calibrated projection distance; A second acquisition unit is configured to acquire an actual projection distance of the projection light to the detected position when obtaining the marking line detection data; A first determining unit, configured to determine a distance correction coefficient according to the calibrated projection distance and the actual projection distance; The first correction unit is configured to correct the original retroreflection brightness coefficient to be corrected according to the distance correction coefficient to obtain the retroreflection brightness coefficient corrected by distance.

7. The calibration device according to claim 6, characterized in that: The correction device also includes: a third acquisition unit configured to acquire a distance-corrected retroreflection brightness coefficient; a second determining unit, configured to determine an ambient light correction coefficient according to the ambient light parameter; The second correction unit is configured to correct the distance-corrected retroreflection brightness coefficient according to the ambient light correction coefficient to obtain a distance-corrected and ambient light-corrected retroreflection brightness coefficient.

8. A calibration device, characterized in that: include: A first acquisition unit is configured to acquire an original retroreflection brightness coefficient to be corrected determined according to the marking line detection data; a fourth acquisition unit, configured to acquire an ambient light parameter when obtaining the marking line detection data; a second determining unit, configured to determine an ambient light correction coefficient according to the ambient light parameter; The second correction unit is configured to correct the original retroreflection brightness coefficient to be corrected according to the ambient light correction coefficient to obtain the retroreflection brightness coefficient corrected by the ambient light.

9. An electronic device, characterized in that: include: A processor and a memory storing a computer program, wherein the processor is configured to implement the method according to any one of claims 1 to 5 when running the computer program.

10. A program product comprising a computer program, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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