Methods, apparatus, and storage media for verifying heading angle annotation results

Abstract

This disclosure relates to the technical field of intelligent driving, and discloses a method, apparatus, and storage medium for verifying heading angle annotation results. The method includes: acquiring the ground velocity of the acquiring vehicle and the ground velocity of the target vehicle based on two adjacent frames of data collected from the target vehicle, wherein each frame of data in the acquired data is annotated with the heading angle of the target vehicle; calculating a heading angle change threshold of the target vehicle based on the time difference between two adjacent frames of data, the ground velocity of the acquiring vehicle, and the ground velocity of the target vehicle; determining the heading angle change value between the two adjacent frames of data based on the heading angle of the target vehicle annotated in the two adjacent frames of data; and verifying the accuracy of the heading angle of the target vehicle annotated in the two frames of data based on the heading angle change threshold and the heading angle change value between the two adjacent frames of data. The above process can automatically verify the accuracy of the heading angle in the vehicle's acquired data, which helps to improve the annotation quality of the acquired data and reduce the labor cost of annotating the acquired data.

Description

Technical Field

[0001] This disclosure relates to the technical field of intelligent driving, such as a method and apparatus for verifying heading angle annotation results, and a storage medium. Background Technology

[0002] With the development of autonomous driving technology, the demand for environmental perception is increasing. To train and optimize perception models, a large amount of labeled data is essential; for example, the vehicle's heading angle is labeled in the collected data characterizing the vehicle's driving status. In intelligent driving systems, the heading angle of surrounding vehicles is a key parameter that directly affects the vehicle's control decisions. By accurately detecting and tracking changes in the heading angles of surrounding vehicles, the vehicle can better determine whether other vehicles are inclined to enter or leave its lane, thus making corresponding driving decisions. Therefore, accurately labeling the vehicle's heading angle in the collected data is crucial for training and optimizing perception models.

[0003] However, in related technologies, the heading angles in the collected data are usually manually labeled. Due to potential subjective judgment errors during manual labeling, heading angles can easily be reversed or exhibit abrupt changes that do not conform to reality. For example, in the labeling of consecutive frames, the heading angle between two adjacent frames may show unreasonable and significant changes, which does not conform to actual physical motion laws. This will seriously affect the training effect of the perception model, leading to varying degrees of false heading angle detection in practical applications. To check for incorrectly labeled heading angles, a large number of personnel are needed for manual review, which results in excessively high labor costs and increases the training cost of the perception model.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0006] This disclosure provides a method, apparatus, and storage medium for verifying heading angle annotation results. It can automatically verify the accuracy of heading angles in vehicle data collection, which helps improve the annotation quality of collected data and reduce the labor costs of annotating collected data.

[0007] According to a first aspect of this disclosure, a method for verifying heading angle annotation results is provided, comprising:

[0008] Based on two adjacent frames of data collected from the target vehicle, the ground speed of the collecting vehicle and the ground speed of the target vehicle are obtained. Each frame of data in the collected data is labeled with the heading angle of the target vehicle.

[0009] Based on the time difference between two adjacent frames of data, the ground speed of the acquisition vehicle and the ground speed of the target vehicle, the heading angle change threshold of the target vehicle is calculated. The heading angle change threshold is the reasonable amount of heading angle change of the target vehicle allowed within the time difference between two adjacent frames of data.

[0010] Based on the heading angle of the target vehicle marked in two adjacent frames of data, determine the change value of the heading angle between the two adjacent frames of data;

[0011] The accuracy of the heading angle of the target vehicle labeled in the two frames of data is verified based on the heading angle change threshold and the heading angle change value of two adjacent frames of data.

[0012] In some embodiments, the target vehicle's heading angle change threshold is calculated based on the time difference between two adjacent frames of data, the ground speed of the acquisition vehicle, and the ground speed of the target vehicle, including:

[0013] The minimum turning radius of the data collection vehicle is determined based on its ground speed, and the minimum turning radius of the target vehicle is determined based on its ground speed.

[0014] Based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the data acquisition vehicle, and the ground speed and minimum turning radius of the target vehicle, the heading angle change threshold of the target vehicle is calculated.

[0015] In some embodiments, determining the minimum turning radius of the data acquisition vehicle based on its ground speed, and determining the minimum turning radius of the target vehicle based on its ground speed, includes:

[0016] The radius speed table determines the adjacent speed values ​​before and after the ground speed of the data collection vehicle and the adjacent speed values ​​before and after the ground speed of the target vehicle. The radius speed table contains multiple speed values ​​and the minimum turning radius corresponding to each speed value.

[0017] The minimum turning radius of the data collection vehicle is determined based on the adjacent speed values ​​of the data collection vehicle to the ground and their corresponding minimum turning radius.

[0018] The minimum turning radius of the data acquisition vehicle is determined based on the adjacent speed values ​​of the target vehicle and their corresponding minimum turning radii.

[0019] In some embodiments, based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the acquisition vehicle, and the ground speed and minimum turning radius of the target vehicle, the heading angle change threshold of the target vehicle is calculated, including:

[0020] Based on the time difference between two adjacent frames of data, the ground speed of the data acquisition vehicle, and the minimum turning radius, the change value of the reference heading angle of the data acquisition vehicle is calculated.

[0021] Based on the time difference between two adjacent frames of data, the target vehicle's ground speed, and the minimum turning radius, the change in the target vehicle's reference heading angle is calculated.

[0022] Based on the reference heading angle change values ​​of the data acquisition vehicle and the target vehicle, the heading angle change threshold of the target vehicle is calculated.

[0023] In some embodiments, the accuracy of the heading angle of the target vehicle labeled in two frames of data is verified based on a heading angle change threshold and the heading angle change values ​​of two adjacent frames of data, including:

[0024] The heading angle change threshold is compared with the heading angle change values ​​of two adjacent frames of data;

[0025] If the heading angle change threshold is greater than the heading angle change value of two adjacent frames of data, the heading angle of the target vehicle labeled in the two frames of data is determined to be accurate.

[0026] If the heading angle change threshold is not greater than the heading angle change value of two adjacent frames of data, it is determined that the heading angle of the target vehicle labeled in the two frames of data is incorrect.

[0027] In some embodiments, comparing the heading angle change threshold with the heading angle change values ​​of two adjacent frames of data includes:

[0028] Determine the heading angle change margin, and use the sum of the heading angle change threshold and the heading angle change margin as the final heading angle change threshold to be used.

[0029] The heading angle change threshold is compared with the heading angle change values ​​of two adjacent frames.

[0030] In some embodiments, obtaining the ground velocity of the collecting vehicle and the ground velocity of the target vehicle based on two adjacent frames of data collected from the target vehicle includes:

[0031] Determine the first travel distance of the collecting vehicle in two adjacent frames of data from the target vehicle, and determine the second travel distance of the target vehicle in two adjacent frames of data;

[0032] The ground speed of the data acquisition vehicle is determined based on the first travel distance and the time difference between two adjacent frames of data.

[0033] The relative speed of the target vehicle to the data acquisition vehicle is determined based on the second travel distance and the time difference between two adjacent frames of data.

[0034] The ground speed of the target vehicle is determined based on the ground speed of the data collection vehicle and the relative speed of the target vehicle with respect to the data collection vehicle.

[0035] According to a second aspect of this disclosure, a heading angle marking result verification device is provided, comprising:

[0036] The speed acquisition module is configured to acquire the ground speed of the acquisition vehicle and the ground speed of the target vehicle based on two adjacent frames of data in the acquisition data of the target vehicle. Each frame of data in the acquisition data is labeled with the heading angle of the target vehicle.

[0037] The first heading angle determination module is configured to calculate the heading angle change threshold of the target vehicle based on the time difference between two adjacent frames of data, the ground speed of the acquisition vehicle, and the ground speed of the target vehicle.

[0038] The second heading angle determination module is configured to determine the heading angle change value between two adjacent frames of data based on the heading angle of the target vehicle marked in the two adjacent frames of data.

[0039] The heading angle verification module is configured to verify the accuracy of the heading angle of the target vehicle labeled in two frames of data based on the heading angle change threshold and the heading angle change value of two adjacent frames of data.

[0040] According to a third aspect of this disclosure, a heading angle annotation result verification apparatus is provided, including a processor and a memory storing program instructions, wherein the processor is configured to execute the heading angle annotation result verification method provided in the first aspect of this disclosure when running the program instructions.

[0041] According to a fourth aspect of this disclosure, a storage medium is provided, which stores computer program instructions. When the computer program instructions are executed by a processor, they perform the heading angle annotation result verification method provided in the first aspect of this disclosure.

[0042] The heading angle annotation result verification method, apparatus, and storage medium provided in this disclosure can achieve the following technical effects:

[0043] The heading angle annotation result verification method provided in this disclosure can determine a suitable heading angle change threshold based on two adjacent frames of data collected from the target vehicle. This heading angle change threshold is used as the verification standard for the annotated heading angle in the two frames of data. By comparing the heading angle change threshold with the heading angle change values ​​of the two adjacent frames, the accuracy of the annotated heading angle of the target vehicle in the two frames of data is verified. This process can automatically verify the accuracy of the heading angle in the vehicle's collected data, helping to improve the annotation quality of the collected data, reduce the manual cost of annotating the collected data, and also help improve the training effect and reduce the training cost of the perception model in the future.

[0044] The above general description and the description below are exemplary and illustrative only and are not intended to limit this disclosure. Attached Figure Description

[0045] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0046] Figure 1 This is a schematic diagram of a method for verifying heading angle annotation results provided in an embodiment of this disclosure;

[0047] Figure 2 This is a schematic diagram of another method for verifying heading angle annotation results provided in this embodiment of the disclosure;

[0048] Figure 3 This is a schematic diagram of the speed turning radius variation curve corresponding to the radius speed gauge provided in this embodiment of the disclosure;

[0049] Figure 4 This is a schematic diagram illustrating the change in vehicle heading angle between two adjacent frames of data provided in this embodiment of the disclosure;

[0050] Figure 5 This is a schematic diagram of another method for verifying heading angle annotation results provided in this embodiment of the disclosure;

[0051] Figure 6 This is a schematic diagram of another method for verifying heading angle annotation results provided in this embodiment of the disclosure;

[0052] Figure 7 This is a schematic diagram of a heading angle marking result verification device provided in an embodiment of this disclosure;

[0053] Figure 8 This is a schematic diagram of another heading angle marking result verification device provided in an embodiment of this disclosure. Detailed Implementation

[0054] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0055] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0056] Unless otherwise stated, the term "multiple" means two or more.

[0057] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0058] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0059] The term "correspondence" can refer to an association or binding relationship. The correspondence between A and B means that there is an association or binding relationship between A and B.

[0060] This disclosure provides a heading angle annotation result verification device, which can automatically verify the accuracy of the heading angle of the target vehicle annotated by two adjacent frames of data in the collected data of the target vehicle.

[0061] In conjunction with the heading angle annotation result verification device provided in this disclosure embodiment, this disclosure embodiment provides a heading angle annotation result verification method. The execution subject of the heading angle annotation result verification method is the heading angle annotation result verification device (hereinafter referred to as the device), such as... Figure 1 As shown, the verification method for the heading angle annotation results includes:

[0062] S101, the device obtains the ground speed of the collecting vehicle and the ground speed of the target vehicle based on two adjacent frames of data in the collected data of the target vehicle.

[0063] In this embodiment of the disclosure, the vehicle used to collect data from other vehicles is defined as the collecting vehicle, and the vehicles around the collecting vehicle whose data is being collected are defined as target vehicles. The data collected from the target vehicles are the driving status data of the target vehicles collected by the collecting vehicle. Each frame of data in the collected data is labeled with the heading angle of the target vehicle, wherein the heading angle may be manually labeled.

[0064] In this embodiment of the disclosure, each frame of data in the acquired data also includes time information, position information of the acquisition vehicle, position information of the target vehicle, and size information of the target vehicle. The time information is the time when the frame of data was acquired, the position information of the acquisition vehicle is its world coordinate pose, the position information of the target vehicle is its coordinate pose relative to the acquisition vehicle, and the size information of the target vehicle includes its length, width, and height.

[0065] In this embodiment of the disclosure, the ground speed of the acquisition vehicle and the ground speed of the target vehicle are obtained based on two adjacent frames of data in the acquisition data of the target vehicle, including: determining a first travel distance of the acquisition vehicle in two adjacent frames of data in the acquisition data of the target vehicle, and determining a second travel distance of the target vehicle in two adjacent frames of data; determining the ground speed of the acquisition vehicle based on the first travel distance and the time difference between the two adjacent frames of data; determining the relative speed of the target vehicle relative to the acquisition vehicle based on the second travel distance and the time difference between the two adjacent frames of data; and determining the ground speed of the target vehicle based on the ground speed of the acquisition vehicle and the relative speed of the target vehicle relative to the acquisition vehicle.

[0066] The first travel distance is the distance traveled by the acquisition vehicle during the acquisition of two adjacent frames of data, and the second travel distance is the distance traveled by the target vehicle relative to the acquisition vehicle during the acquisition of two adjacent frames of data. Here, the first travel distance is determined based on the difference in the position information of the acquisition vehicle in two adjacent frames of data, and the second travel distance is determined based on the difference in the position information of the target vehicle in two adjacent frames of data. It can be understood that the ratio of the first travel distance to the time difference between two adjacent frames of data is the ground velocity of the acquisition vehicle; the ratio of the second travel distance to the time difference between two adjacent frames of data is the relative velocity of the target vehicle relative to the acquisition vehicle; and the sum of the ground velocity of the acquisition vehicle and the relative velocity of the target vehicle relative to the acquisition vehicle is the ground velocity of the target vehicle.

[0067] S102, the device calculates the heading angle change threshold of the target vehicle based on the time difference between two adjacent frames of data, the ground speed of the data acquisition vehicle and the ground speed of the target vehicle.

[0068] In this embodiment of the disclosure, the heading angle change threshold is the reasonable amount of heading angle change of the target vehicle allowed within the time difference between two adjacent frames of data.

[0069] S103, the device determines the change value of the heading angle of the target vehicle in the two adjacent frames of data based on the heading angle of the target vehicle marked in the two adjacent frames of data.

[0070] S104, the device verifies the accuracy of the heading angle of the target vehicle labeled in the two frames of data based on the heading angle change threshold and the heading angle change value of two adjacent frames of data.

[0071] The heading angle annotation result verification method provided in this disclosure can determine a suitable heading angle change threshold based on two adjacent frames of data collected from the target vehicle. This heading angle change threshold is used as the verification standard for the annotated heading angle in the two frames of data. By comparing the heading angle change threshold with the heading angle change values ​​of the two adjacent frames, the accuracy of the annotated heading angle of the target vehicle in the two frames of data is verified. This process can automatically verify the accuracy of the heading angle in the vehicle's collected data, helping to improve the annotation quality of the collected data, reduce the manual cost of annotating the collected data, and also help improve the training effect and reduce the training cost of the perception model in the future.

[0072] In some embodiments, the heading angle change threshold of the target vehicle is calculated based on the time difference between two adjacent frames of data, the ground speed of the data acquisition vehicle, and the ground speed of the target vehicle. This includes: determining the minimum turning radius of the data acquisition vehicle based on the ground speed of the data acquisition vehicle, and determining the minimum turning radius of the target vehicle based on the ground speed of the target vehicle; and calculating the heading angle change threshold of the target vehicle based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the data acquisition vehicle, and the ground speed and minimum turning radius of the target vehicle.

[0073] Combination Figure 2 As shown in the embodiments of this disclosure, another method for verifying heading angle annotation results is provided. The method for verifying heading angle annotation results includes:

[0074] S201, the device obtains the ground speed of the collecting vehicle and the ground speed of the target vehicle based on two adjacent frames of data in the collected data of the target vehicle.

[0075] S202, the device determines the minimum turning radius of the data collection vehicle based on the ground speed of the data collection vehicle, and determines the minimum turning radius of the target vehicle based on the ground speed of the target vehicle.

[0076] In this embodiment of the disclosure, as shown in Table 1, a radius speed table can be pre-configured. The radius speed table contains multiple speed values ​​and the minimum turning radius corresponding to each speed value. For example, the minimum turning radius corresponding to the speed value 3.89 is 6, and the minimum turning radius corresponding to the speed value 5 is 10.

[0077]

[0078] Table 1

[0079] Figure 3 The curves showing the change in speed turning radius corresponding to the radius speedometer are shown. Figure 3 In the diagram, the horizontal axis represents the vehicle speed, and the vertical axis represents the vehicle's minimum turning radius. Figure 4 This diagram illustrates the change in vehicle heading angle between two adjacent frames of data. Figure 4In the diagram, rectangle A represents the vehicle's pose in the previous frame, rectangle B represents the vehicle's pose in the next frame, the arrows extending from the rectangles indicate the vehicle's heading (also the direction of its velocity), R0 represents the minimum turning radius corresponding to the vehicle's current speed, and θ represents the change in the vehicle's heading angle between two adjacent frames. Table 1 and... Figure 3 The vehicle speeds shown are all ground speeds, referring to Table 1 and... Figure 3 It can be seen that the vehicle speed is positively correlated with the minimum turning radius. The embodiments of this disclosure can be illustrated in Table 1 and... Figure 3 Based on the relationship between the vehicle speed and the minimum turning radius shown, the minimum turning radius is obtained by fitting the ground speed of the data collection vehicle, and the minimum turning radius is obtained by fitting the ground speed of the target vehicle.

[0080] In some embodiments, determining the minimum turning radius of the data acquisition vehicle based on its ground speed and determining the minimum turning radius of the target vehicle based on its ground speed includes: determining the adjacent speed values ​​before and after the ground speed of the data acquisition vehicle and the adjacent speed values ​​before and after the ground speed of the target vehicle in a radius speed table; determining the minimum turning radius of the data acquisition vehicle based on the adjacent speed values ​​before and after the ground speed of the data acquisition vehicle and their corresponding minimum turning radii; and determining the minimum turning radius of the data acquisition vehicle based on the adjacent speed values ​​before and after the ground speed of the target vehicle and their corresponding minimum turning radii.

[0081] Optionally, taking a target vehicle's ground speed of 7 m / s as an example, the adjacent speed values ​​in the radius speed table are 5.56 and 8.89, respectively. The minimum turning radius corresponding to speed 5.56 is 15, and the minimum turning radius corresponding to speed 8.89 is 25. Based on the speed values ​​of 5.56 and 8.89 and their corresponding minimum turning radii, the minimum turning radius of the target vehicle is determined through fitting.

[0082] In some embodiments, the minimum turning radius of the data acquisition vehicle and the minimum turning radius of the target vehicle can be calculated using the following formulas:

[0083] In the above formula, when calculating the minimum turning radius of the data collection vehicle, R0 represents the minimum turning radius, V0 represents the ground speed of the data collection vehicle, V1 and V2 represent the adjacent speed values ​​of the radius speedometer before and after the ground speed of the data collection vehicle, and R1 and R2 represent the minimum turning radius corresponding to the adjacent speed values ​​of the radius speedometer before and after the ground speed of the data collection vehicle. Taking the ground speed of the data collection vehicle as an example of 7 m / s, the minimum turning radius of the data collection vehicle can be calculated to be 19.325 meters using the above formula.

[0084] S203, the device calculates the heading angle change threshold of the target vehicle based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the data acquisition vehicle, and the ground speed and minimum turning radius of the target vehicle.

[0085] In some embodiments, after obtaining the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the acquisition vehicle, and the ground speed and minimum turning radius of the target vehicle, the reference heading angle change value of the acquisition vehicle and the reference heading angle change value of the target vehicle can be calculated based on these parameters, and then the heading angle change threshold of the target vehicle can be determined based on these two reference heading angle change values.

[0086] In some embodiments, calculating the heading angle change threshold of the target vehicle based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the data acquisition vehicle, and the ground speed and minimum turning radius of the target vehicle includes: calculating the reference heading angle change value of the data acquisition vehicle based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the data acquisition vehicle; calculating the reference heading angle change value of the target vehicle based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the target vehicle; and calculating the heading angle change threshold of the target vehicle based on the reference heading angle change value of the data acquisition vehicle and the reference heading angle change value of the target vehicle.

[0087] Optionally, the reference heading angle change of the data acquisition vehicle and the reference heading angle change of the target vehicle can be calculated using the following formula: α=t×V0 / (2×π×R0)×360.

[0088] In the above formula, when it is necessary to calculate the change value of the reference heading angle of the data acquisition vehicle, α represents the change value of the reference heading angle of the data acquisition vehicle, V0 represents the ground speed of the data acquisition vehicle, R0 represents the minimum turning radius of the data acquisition vehicle, and t represents the time difference between two adjacent frames of data.

[0089] In the above formula, when it is necessary to calculate the change value of the target vehicle's reference heading angle, α represents the change value of the target vehicle's reference heading angle, V0 represents the target vehicle's ground speed, R0 represents the target vehicle's minimum turning radius, and t represents the time difference between two adjacent frames of data.

[0090] S204, the device determines the change value of the heading angle between two adjacent frames of data based on the heading angle of the target vehicle marked in the two adjacent frames of data.

[0091] S205, the device verifies the accuracy of the heading angle of the target vehicle labeled in two frames of data based on the heading angle change threshold and the heading angle change value of two adjacent frames of data.

[0092] In some embodiments, the accuracy of the heading angle of the target vehicle labeled in two frames of data is verified based on the heading angle change threshold and the heading angle change values ​​of two adjacent frames of data. This includes: comparing the heading angle change threshold and the heading angle change values ​​of two adjacent frames of data; determining that the heading angle of the target vehicle labeled in the two frames of data is accurate if the heading angle change threshold is greater than the heading angle change values ​​of two adjacent frames of data; and determining that the heading angle of the target vehicle labeled in the two frames of data is incorrect if the heading angle change threshold is not greater than the heading angle change values ​​of two adjacent frames of data.

[0093] Combination Figure 5 As shown in the embodiments of this disclosure, another method for verifying heading angle annotation results is provided. The method for verifying heading angle annotation results includes:

[0094] S501, the device obtains the ground speed of the collecting vehicle and the ground speed of the target vehicle based on two adjacent frames of data in the collected data of the target vehicle.

[0095] S502, the device calculates the target vehicle's heading angle change threshold based on the time difference between two adjacent frames of data, the ground speed of the data acquisition vehicle, and the ground speed of the target vehicle.

[0096] S503, the device determines the change value of the heading angle between two adjacent frames of data based on the heading angle of the target vehicle marked in the two adjacent frames of data.

[0097] S504, the device compares the heading angle change threshold with the heading angle change values ​​of two adjacent frames of data.

[0098] S505, the device determines that the heading angle of the target vehicle marked in the two frames of data is accurate when the heading angle change threshold is greater than the heading angle change value of the two adjacent frames of data.

[0099] S506, if the heading angle change threshold is not greater than the heading angle change value of two adjacent frames of data, the device determines that the heading angle of the target vehicle marked in the two frames of data is incorrect.

[0100] In some embodiments, comparing the heading angle change threshold with the heading angle change values ​​of two adjacent frames of data includes: determining the heading angle change margin, using the sum of the heading angle change threshold and the heading angle change margin as the final heading angle change threshold; and comparing the heading angle change threshold with the heading angle change values ​​of two adjacent frames of data.

[0101] Combination Figure 6 As shown in the embodiments of this disclosure, another method for verifying heading angle annotation results is provided. The method for verifying heading angle annotation results includes:

[0102] S601, the device obtains the ground speed of the collecting vehicle and the ground speed of the target vehicle based on two adjacent frames of data in the collected data of the target vehicle.

[0103] S602, the device calculates the target vehicle's heading angle change threshold based on the time difference between two adjacent frames of data, the ground speed of the data acquisition vehicle, and the ground speed of the target vehicle.

[0104] S603, the device determines the change value of the heading angle between two adjacent frames of data based on the heading angle of the target vehicle marked in the two adjacent frames of data.

[0105] S604, the device determines the heading angle change margin and uses the sum of the heading angle change threshold and the heading angle change margin as the final heading angle change threshold.

[0106] S605, the device compares the heading angle change threshold with the heading angle change values ​​of two adjacent frames of data.

[0107] S606, the device determines that the heading angle of the target vehicle marked in the two frames of data is accurate when the heading angle change threshold is greater than the heading angle change value of the two adjacent frames of data.

[0108] S607, if the heading angle change threshold is not greater than the heading angle change value of two adjacent frames of data, the device determines that the heading angle of the target vehicle marked in the two frames of data is incorrect.

[0109] In this embodiment, determining the heading angle change threshold depends on the vehicle's speed. However, speed detection may contain errors, which are propagated to the heading angle change threshold calculated based on speed. By setting a reasonable heading angle change margin, a buffer can be provided for these errors, preventing small measurement errors from incorrectly identifying a reasonable heading angle label. Furthermore, vehicles may encounter various road conditions and weather conditions during operation, all of which can affect sensor data acquisition. The heading angle change margin increases the algorithm's robustness to these external disturbances, ensuring accurate verification of the heading angle label under different conditions.

[0110] In this embodiment of the disclosure, a default value can be preset as the heading angle change margin. For example, the heading angle change margin can be set to 2.

[0111] In some embodiments, a base margin value can be preset, for example, the base margin value can be set to 2. Then, a corresponding first margin adjustment value is determined according to the type of the target vehicle, and the heading angle change margin is determined based on the base margin value and the first margin adjustment value. For example, the first margin adjustment value can be a value near 1. If the first margin adjustment value is greater than 0, the product of the base margin value and the first margin adjustment value is used as the heading angle change margin; if the first margin adjustment value is a value near 0, the first margin adjustment value can be greater than 0 or less than 0, and the sum of the base margin value and the first margin adjustment value is used as the heading angle change margin.

[0112] Optionally, the first margin adjustment value is related to the size of the target vehicle. Generally speaking, the first margin adjustment value is negatively correlated with the size of the target vehicle. The larger the target vehicle, the smaller the corresponding first margin adjustment value.

[0113] In some embodiments, a base margin value can be preset, for example, the base margin value can be set to 2. Then, a corresponding second margin adjustment value is determined based on the weather conditions when two adjacent frames of data are collected. The heading angle change margin is determined based on the base margin value and the second margin adjustment value. For example, the second margin adjustment value can be a value near 1. If the second margin adjustment value is greater than 0, the product of the base margin value and the second margin adjustment value is used as the heading angle change margin; if the second margin adjustment value is a value near 0, the second margin adjustment value can be greater than 0 or less than 0, and the sum of the base margin value and the second margin adjustment value is used as the heading angle change margin.

[0114] Optionally, the second margin adjustment value is related to the weather conditions; generally speaking, the better the weather conditions, the smaller the second margin adjustment value.

[0115] In some embodiments, the heading angle variation margin is determined based on the base margin value, the first margin adjustment value, and the second margin adjustment value. For example, the first margin adjustment value and the second margin adjustment value can be values ​​near 1. If both the first margin adjustment value and the second margin adjustment value are greater than 0, the product of the base margin value, the first margin adjustment value, and the second margin adjustment value is used as the heading angle variation margin. Alternatively, the first margin adjustment value and the second margin adjustment value can be values ​​near 0. If both the first margin adjustment value and the second margin adjustment value are greater than 0 or less than 0, the sum of the base margin value, the first margin adjustment value, and the second margin adjustment value is used as the heading angle variation margin.

[0116] Combination Figure 7 As shown, this embodiment of the present disclosure provides a heading angle annotation result verification device 700, which includes a speed acquisition module 701, a first heading angle determination module 702, a second heading angle determination module 703, and a heading angle verification module 704.

[0117] The speed acquisition module 701 is configured to acquire the ground speed of the acquisition vehicle and the ground speed of the target vehicle based on two adjacent frames of data in the acquisition data of the target vehicle. Each frame of data in the acquisition data is labeled with the heading angle of the target vehicle.

[0118] The first heading angle determination module 702 is configured to calculate the heading angle change threshold of the target vehicle based on the time difference between two adjacent frames of data, the ground speed of the acquisition vehicle, and the ground speed of the target vehicle. The heading angle change threshold is the reasonable amount of heading angle change of the target vehicle allowed within the time difference between two adjacent frames of data.

[0119] The second heading angle determination module 703 is configured to determine the heading angle change value between two adjacent frames of data based on the heading angle of the target vehicle marked in the two adjacent frames of data.

[0120] The heading angle verification module 704 is configured to verify the accuracy of the heading angle of the target vehicle labeled in two frames of data based on the heading angle change threshold and the heading angle change value of two adjacent frames of data.

[0121] The heading angle annotation result verification device 700 provided in this embodiment can determine a suitable heading angle change threshold based on two adjacent frames of data collected from the target vehicle. This heading angle change threshold is used as the verification standard for the annotated heading angle in the two frames of data. By comparing the heading angle change threshold with the heading angle change values ​​of the two adjacent frames, the accuracy of the annotated heading angle of the target vehicle in the two frames of data is verified. This process automatically verifies the accuracy of the heading angle in the vehicle's collected data, helping to improve the annotation quality of the collected data, reduce the manual cost of annotating the collected data, and also help improve the training effect and reduce the training cost of the perception model in the future.

[0122] In some embodiments, the first heading angle determination module 702 is configured to:

[0123] The minimum turning radius of the data collection vehicle is determined based on its ground speed, and the minimum turning radius of the target vehicle is determined based on its ground speed.

[0124] Based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the data acquisition vehicle, and the ground speed and minimum turning radius of the target vehicle, the heading angle change threshold of the target vehicle is calculated.

[0125] In some embodiments, the first heading angle determination module 702 is configured to:

[0126] The radius speed table determines the adjacent speed values ​​before and after the ground speed of the data collection vehicle and the adjacent speed values ​​before and after the ground speed of the target vehicle. The radius speed table contains multiple speed values ​​and the minimum turning radius corresponding to each speed value.

[0127] The minimum turning radius of the data collection vehicle is determined based on the adjacent speed values ​​of the data collection vehicle to the ground and their corresponding minimum turning radius.

[0128] The minimum turning radius of the data acquisition vehicle is determined based on the adjacent speed values ​​of the target vehicle and their corresponding minimum turning radii.

[0129] In some embodiments, the first heading angle determination module 702 is configured to:

[0130] Based on the time difference between two adjacent frames of data, the ground speed of the data acquisition vehicle, and the minimum turning radius, the change value of the reference heading angle of the data acquisition vehicle is calculated.

[0131] Based on the time difference between two adjacent frames of data, the target vehicle's ground speed, and the minimum turning radius, the change in the target vehicle's reference heading angle is calculated.

[0132] Based on the reference heading angle change values ​​of the data acquisition vehicle and the target vehicle, the heading angle change threshold of the target vehicle is calculated.

[0133] In some embodiments, the heading angle verification module 704 is configured as follows:

[0134] The heading angle change threshold is compared with the heading angle change values ​​of two adjacent frames of data;

[0135] If the heading angle change threshold is greater than the heading angle change value of two adjacent frames of data, the heading angle of the target vehicle labeled in the two frames of data is determined to be accurate.

[0136] If the heading angle change threshold is not greater than the heading angle change value of two adjacent frames of data, it is determined that the heading angle of the target vehicle labeled in the two frames of data is incorrect.

[0137] In some embodiments, the heading angle verification module 704 is configured as follows:

[0138] Determine the heading angle change margin, and use the sum of the heading angle change threshold and the heading angle change margin as the final heading angle change threshold to be used.

[0139] The heading angle change threshold is compared with the heading angle change values ​​of two adjacent frames.

[0140] In some embodiments, the speed acquisition module 701 is configured to:

[0141] Determine the first travel distance of the collecting vehicle in two adjacent frames of data from the target vehicle, and determine the second travel distance of the target vehicle in two adjacent frames of data;

[0142] The ground speed of the data acquisition vehicle is determined based on the first travel distance and the time difference between two adjacent frames of data.

[0143] The relative speed of the target vehicle to the data acquisition vehicle is determined based on the second travel distance and the time difference between two adjacent frames of data.

[0144] The ground speed of the target vehicle is determined based on the ground speed of the data collection vehicle and the relative speed of the target vehicle with respect to the data collection vehicle.

[0145] Combination Figure 8 As shown, this disclosure provides another heading angle labeling result verification device 800, which includes a processor 801 and a memory 802. Optionally, the heading angle labeling result verification device 800 may further include a communication interface 803 and a bus 804. The processor 801, communication interface 803, and memory 802 can communicate with each other via the bus 804. The communication interface 803 can be used for information transmission. The processor 801 can call logical instructions in the memory 802 to execute the heading angle labeling result verification method of the above embodiment.

[0146] Furthermore, the logic instructions in the aforementioned memory 802 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0147] The memory 802, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this disclosure. The processor 801 executes functional applications and data processing by running the program instructions / modules stored in the memory 802, thereby implementing the heading angle annotation result verification method in the above embodiments.

[0148] The memory 802 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 802 may include high-speed random access memory and may also include non-volatile memory.

[0149] This disclosure provides a computer-readable storage medium storing computer-executable instructions configured to execute the above-described heading angle annotation result verification method.

[0150] The technical solutions of this disclosure can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in this disclosure. The aforementioned storage medium can be a non-transitory storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, etc., and other media capable of storing program code.

[0151] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used in this application means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes said element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0152] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0153] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0154] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A method for verifying heading angle annotation results, characterized in that, include: Based on two adjacent frames of data collected from the target vehicle, the ground speed of the collecting vehicle and the ground speed of the target vehicle are obtained. Each frame of data in the collected data is labeled with the heading angle of the target vehicle. The radius speed table determines the adjacent speed values ​​before and after the ground speed of the data collection vehicle and the adjacent speed values ​​before and after the ground speed of the target vehicle. The radius speed table contains multiple speed values ​​and the minimum turning radius corresponding to each speed value. The minimum turning radius of the data collection vehicle is determined based on the adjacent speed values ​​of the data collection vehicle to the ground and their corresponding minimum turning radius. The minimum turning radius of the data acquisition vehicle is determined based on the adjacent speed values ​​of the target vehicle's ground speed and their corresponding minimum turning radius. Based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the acquisition vehicle, and the ground speed and minimum turning radius of the target vehicle, the heading angle change threshold of the target vehicle is calculated. The heading angle change threshold is the reasonable amount of heading angle change of the target vehicle allowed within the time difference between two adjacent frames of data. Based on the heading angle of the target vehicle marked in two adjacent frames of data, determine the change value of the heading angle between the two adjacent frames of data; The accuracy of the heading angle of the target vehicle labeled in the two frames of data is verified based on the heading angle change threshold and the heading angle change value of two adjacent frames of data.

2. The method for verifying heading angle marking results according to claim 1, characterized in that, Based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the acquisition vehicle, and the ground speed and minimum turning radius of the target vehicle, the heading angle change threshold of the target vehicle is calculated, including: Based on the time difference between two adjacent frames of data, the ground speed of the data acquisition vehicle, and the minimum turning radius, the change value of the reference heading angle of the data acquisition vehicle is calculated. Based on the time difference between two adjacent frames of data, the target vehicle's ground speed, and the minimum turning radius, the change in the target vehicle's reference heading angle is calculated. Based on the reference heading angle change values ​​of the data acquisition vehicle and the target vehicle, the heading angle change threshold of the target vehicle is calculated.

3. The method for verifying heading angle marking results according to any one of claims 1 to 2, characterized in that, Based on the heading angle change threshold and the heading angle change values ​​of two adjacent frames of data, the accuracy of the heading angle of the target vehicle labeled in the two frames of data is verified, including: The heading angle change threshold is compared with the heading angle change values ​​of two adjacent frames of data; If the heading angle change threshold is greater than the heading angle change value of two adjacent frames of data, the heading angle of the target vehicle labeled in the two frames of data is determined to be accurate. If the heading angle change threshold is not greater than the heading angle change value of two adjacent frames of data, it is determined that the heading angle of the target vehicle labeled in the two frames of data is incorrect.

4. The method for verifying heading angle marking results according to claim 3, characterized in that, The heading angle change threshold is compared with the heading angle change values ​​of two adjacent frames, including: Determine the heading angle change margin, and use the sum of the heading angle change threshold and the heading angle change margin as the final heading angle change threshold to be used. The heading angle change threshold is compared with the heading angle change values ​​of two adjacent frames.

5. The method for verifying heading angle marking results according to any one of claims 1 to 2, characterized in that, Based on two adjacent frames of data collected from the target vehicle, the ground velocity of the collecting vehicle and the ground velocity of the target vehicle are obtained, including: Determine the first travel distance of the collecting vehicle in two adjacent frames of data from the target vehicle, and determine the second travel distance of the target vehicle in two adjacent frames of data; The ground speed of the data acquisition vehicle is determined based on the first travel distance and the time difference between two adjacent frames of data. The relative speed of the target vehicle to the data acquisition vehicle is determined based on the second travel distance and the time difference between two adjacent frames of data. The ground speed of the target vehicle is determined based on the ground speed of the data collection vehicle and the relative speed of the target vehicle with respect to the data collection vehicle.

6. A device for verifying heading angle marking results, characterized in that, include: The speed acquisition module is configured to acquire the ground speed of the acquisition vehicle and the ground speed of the target vehicle based on two adjacent frames of data in the acquisition data of the target vehicle. Each frame of data in the acquisition data is labeled with the heading angle of the target vehicle. The first heading angle determination module is configured to: determine the adjacent speed values ​​of the data acquisition vehicle and the target vehicle relative to the ground in the radius speed table, the radius speed table containing multiple speed values ​​and the minimum turning radius corresponding to each speed value; determine the minimum turning radius of the data acquisition vehicle based on the adjacent speed values ​​of the data acquisition vehicle and their corresponding minimum turning radii; determine the minimum turning radius of the data acquisition vehicle based on the adjacent speed values ​​of the target vehicle and their corresponding minimum turning radii; and calculate the heading angle change threshold of the target vehicle based on the time difference between two adjacent frames of data, the ground speed and minimum turning radius of the data acquisition vehicle, and the ground speed and minimum turning radius of the target vehicle. The heading angle change threshold is the reasonable amount of heading angle change allowed for the target vehicle within the time difference between two adjacent frames of data. The second heading angle determination module is configured to determine the heading angle change value between two adjacent frames of data based on the heading angle of the target vehicle marked in the two adjacent frames of data. The heading angle verification module is configured to verify the accuracy of the heading angle of the target vehicle labeled in two frames of data based on the heading angle change threshold and the heading angle change value of two adjacent frames of data.

7. A heading angle marking result verification device, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to execute the heading angle annotation result verification method as described in any one of claims 1 to 5 when running program instructions.

8. A storage medium, characterized in that, The storage medium stores computer program instructions, which, when executed by a processor, perform the heading angle annotation result verification method as described in any one of claims 1 to 5.

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