CN117451176A - Sensor data correction method, device, equipment and storage medium - Google Patents
Sensor data correction method, device, equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
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Abstract
The invention discloses a sensor data correction method, device and equipment and a storage medium, and belongs to the technical field of vehicle driving. According to the invention, the included angle between the direction of the vehicle and illumination is calculated, the light intensity data acquired by the light sensor pre-arranged on the vehicle is acquired, the correction mode of the light intensity data is selected based on the included angle between the direction of the vehicle and illumination, and the light intensity data is corrected according to the correction mode of the light intensity data, so that the light intensity value acquired by the light sensor on the vehicle is more in line with the light intensity perceived by human eyes, and the error between the light intensity perceived by the light sensor on the vehicle and the light intensity perceived by human eyes is reduced.
Description
Technical Field
The present invention relates to the field of vehicle driving technologies, and in particular, to a method, an apparatus, a device, and a storage medium for correcting sensor data.
Background
The intensity of light currently sensed by light sensors on an automobile is in error with the actual perception of the driver or passenger. Because the intensity of light sensed by the light sensor is that of the light at the location where the light sensor is mounted, and not that sensed by the human eye of the driver or passenger. When the light intensity correction is performed according to the driving position, the light intensity perceived by other seats is also deviated from the actual light intensity. When the number of the sensors is increased, the cost can be increased, and the problem that the light intensity obtained by the sensors and the light intensity perceived by the human eye position have errors under different light incidence angle scenes can not be well solved.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a sensor data correction method, device and equipment and a storage medium, which aim to reduce errors between light intensity perceived by a light sensor and light intensity perceived by human eyes on a vehicle.
In order to achieve the above object, the present invention provides a sensor data correction method applied to a vehicle on which a light sensor is preset, comprising:
acquiring an included angle between the direction of the vehicle and illumination at the current moment;
acquiring light intensity data acquired by the light sensor;
selecting a correction mode of the light intensity data based on an angle between the orientation of the vehicle and illumination;
and correcting the light intensity data according to the correction mode of the light intensity data.
Optionally, the step of obtaining the angle between the direction of the vehicle and the illumination at the current time includes:
acquiring time information of the current moment and coordinates, directions and horizontal dip angles of the vehicle;
calculating according to the coordinates and time information of the vehicle to obtain an illumination angle;
calculating to obtain a vehicle angle according to the direction of the vehicle and the horizontal inclination angle of the vehicle;
and calculating an included angle between the direction of the vehicle and illumination according to the illumination angle and the vehicle angle.
Optionally, the step of acquiring the light intensity data acquired by the light sensor further includes:
calculating the intensity change frequency of the light intensity data in a preset time;
checking whether the intensity change frequency is lower than a preset frequency threshold value and checking whether the light intensity data exceeds a preset intensity threshold value;
if the light intensity data exceeds a preset intensity threshold and the intensity change frequency is lower than a preset frequency threshold, executing the steps of: and selecting a correction mode of the light intensity data based on an included angle between the orientation of the vehicle and illumination.
Optionally, the step of selecting the correction mode of the light intensity data according to the angle between the orientation of the vehicle and the illumination comprises:
checking whether an included angle between the direction of the vehicle and illumination is within a preset photosensitive range or not, and acquiring a first checking result;
checking whether an included angle between the direction of the vehicle and illumination is within a preset visual field range or not, and acquiring a second checking result;
if the first test result is NO, the second test result is yes, an enhanced correction mode is selected;
and if the first test result is yes, the second test result is no, and then a weakening correction mode is selected.
Optionally, the step of obtaining the time information of the current moment and the coordinates, the direction and the horizontal inclination angle of the vehicle includes:
acquiring the direction of the vehicle, the coordinates of the vehicle and time information at the current moment through a Global Navigation Satellite System (GNSS);
the horizontal angle of the vehicle is obtained through a sensor which is pre-arranged on the vehicle and senses the horizontal angle.
Optionally, before the step of acquiring the light intensity data acquired by the light sensor, the method further includes:
establishing a vehicle body coordinate model based on vehicle body architecture data of the vehicle;
calculating an illumination receiving range of the light sensor based on the vehicle body coordinate model and the pre-acquired position information of the light sensor, and setting the illumination receiving range as a photosensitive range;
and calculating a visible range of the driving position based on the vehicle body coordinate system model, and setting the visible range of the driving position as a visual field range.
Optionally, the step of correcting the light intensity data according to the correction mode of the light intensity data includes:
acquiring a corresponding correction value based on a preset angle range where the illumination angle is located;
when an enhanced correction mode is selected, increasing the light intensity data based on the correction value;
when a fade correction mode is selected, the light intensity data is reduced based on the correction value.
In addition, in order to achieve the above object, the present invention also provides a sensor data correction device including:
the first acquisition module is used for acquiring an included angle between the direction of the vehicle and illumination at the current moment;
the second acquisition module is used for acquiring the light intensity data acquired by the light sensor;
the selection module is used for selecting a correction mode of the light intensity data based on an included angle between the direction of the vehicle and illumination;
and the correction module is used for correcting the light intensity data according to the correction mode of the light intensity data.
In addition, to achieve the above object, the present invention also provides a sensor data correction apparatus comprising: the sensor data correction device comprises a memory, a processor and a sensor data correction program stored on the memory and capable of running on the processor, wherein the sensor data correction program is configured to realize the steps of the sensor data correction method.
In addition, in order to achieve the above object, the present invention also provides a storage medium having stored thereon a sensor data correction program which, when executed by a processor, implements the steps of the sensor data correction method as described above.
According to the sensor data correction method, device and equipment and the storage medium, the light intensity data collected by the light sensor pre-arranged on the vehicle is obtained by calculating the included angle between the direction of the vehicle and illumination, the correction mode of the light intensity data is selected based on the included angle between the direction of the vehicle and illumination, and the light intensity data is corrected according to the correction mode of the light intensity data, so that the light intensity value obtained by the light sensor on the vehicle is more in line with the light intensity perceived by human eyes, and the error between the light intensity perceived by the light sensor on the vehicle and the light intensity perceived by human eyes is reduced.
Drawings
FIG. 1 is a schematic diagram of a sensor data modification device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart of a sensor data correction method according to a first embodiment of the present invention;
FIG. 3 is a schematic overall flow chart of the sensor data correction method of the present invention;
FIG. 4 is a flowchart of a second embodiment of a sensor data correction method according to the present invention;
FIG. 5 is a flowchart of a third embodiment of a sensor data correction method according to the present invention;
FIG. 6 is a schematic diagram of functional modules of the sensor data correction device of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The main solutions of the embodiments of the present application are: the method comprises the steps of obtaining light intensity data collected by a light sensor arranged in the vehicle in advance by calculating an included angle between the direction of the vehicle and illumination, selecting a correction mode of the light intensity data based on the direction of the vehicle and the included angle between the illumination, and correcting the light intensity data according to the correction mode of the light intensity data, so that the light intensity value obtained by the light sensor on the vehicle is more consistent with the light intensity perceived by human eyes, and the error between the light intensity perceived by the light sensor on the vehicle and the light intensity perceived by human eyes is reduced.
Technical terms referred to in this application:
global navigation satellite system (Global Navigation Satellite System, GNSS): the global satellite navigation system is also called an air-based radio navigation positioning system capable of providing all-weather 3-dimensional coordinates and speed and time information for users at any place on the earth surface or near earth space, and comprises one or more satellite constellations and enhancement systems required by supporting specific works, such as a Beidou satellite navigation system (BDS) in China, a Global Positioning System (GPS) in the U.S., a Russian Galileo satellite navigation system (GLONASS) and a Galileo satellite navigation system (GALILEO) in the European Union, wherein the GPS is a global system which is established in the first world and is used for navigation positioning, and the GLONASS becomes a second global satellite navigation system after undergoing rapid retuning, and the two are in the modern updating process; GALILEO is the first fully civilian satellite navigation system, in the experimental stage; BDS is a global satellite navigation system operated by autonomous construction in China, and provides all-weather, all-day and high-precision positioning, navigation and time service for global users
According to the embodiment of the application, the fact that the light intensity sensed by the light sensor on the automobile is in error with the actual sensing of a driver or a passenger at present is considered, because the light intensity sensed by the light sensor is the light intensity at the installation position of the light sensor, the data sensed by the position where the sensor is installed is not sensed by the human eyes of the driver or the passenger, when the light intensity correction is carried out on the data sensed by the light sensor according to the driving position, the light intensity sensed by other seats is also deviated from the actual light intensity, when the number of the sensors is increased, the cost can be increased, and the problem of the light intensity error sensed by the human eyes under different light incidence angle scenes can not be well solved.
Based on this, the embodiment of the application proposes a solution, by acquiring information such as the track direction of the vehicle running, the vehicle coordinates and time in real time, calculating the included angle between the vehicle and the illumination in the current running direction at the current moment, obtaining the photosensitive range of the sensor and the visual field range of the person in the vehicle based on the pre-constructed vehicle body coordinate system model and the installation position of the light sensor, and judging the corresponding relation between the included angle and the photosensitive range and the visual field range according to the included angle between the vehicle and the illumination, thereby determining the data correction mode to correct the data perceived by the light sensor, so that the data perceived by the light sensor is more close to human eye perception, and reducing the error between the perceived light intensity of the sensor and the perceived light intensity of human eye.
Specifically, referring to fig. 1, fig. 1 is a schematic functional block diagram of a terminal device to which the sensor data correction device of the present application belongs. The sensor data correction device may be a device independent of the terminal device, capable of data processing, which may be carried on the terminal device in the form of hardware or software. The terminal device may be an intelligent mobile terminal such as a mobile phone, a vehicle-mounted computer, or a fixed terminal, and the vehicle-mounted computer is used as an example in this embodiment.
In this embodiment, the terminal device to which the sensor data correction device belongs at least includes an output module 110, a processor 120, a memory 130, and a communication module 140.
The memory 130 stores therein an operating system and a sensor data correction program, and the sensor data correction device may store information such as a vehicle orientation, coordinates, a horizontal inclination angle, and a date and time acquired by the GNSS, and data acquired by the sensor in the memory 130; the output module 110 may be a display screen, a speaker, etc. The communication module 140 may include a WIFI module, a mobile communication module, a bluetooth module, and the like, and communicates with an external device or a server through the communication module 140.
Wherein the sensor data correction program in the memory 130 when executed by the processor performs the steps of:
acquiring an included angle between the direction of the vehicle and illumination at the current moment;
acquiring light intensity data acquired by the light sensor;
selecting a correction mode of the light intensity data based on an angle between the orientation of the vehicle and illumination;
and correcting the light intensity data according to the correction mode of the light intensity data.
Further, the sensor data correction program in the memory 130, when executed by the processor, further performs the steps of:
acquiring time information of the current moment and coordinates, directions and horizontal dip angles of the vehicle;
calculating according to the coordinates and time information of the vehicle to obtain an illumination angle;
calculating to obtain a vehicle angle according to the direction of the vehicle and the horizontal inclination angle of the vehicle;
and calculating an included angle between the direction of the vehicle and illumination according to the illumination angle and the vehicle angle.
Further, the sensor data correction program in the memory 130, when executed by the processor, further performs the steps of:
calculating the intensity change frequency of the light intensity data in a preset time;
checking whether the intensity change frequency is lower than a preset frequency threshold value and checking whether the light intensity data exceeds a preset intensity threshold value;
if the light intensity data exceeds a preset intensity threshold and the intensity change frequency is lower than a preset frequency threshold, executing the steps of: and selecting a correction mode of the light intensity data based on an included angle between the orientation of the vehicle and illumination.
Further, the sensor data correction program in the memory 130, when executed by the processor, further performs the steps of:
checking whether an included angle between the direction of the vehicle and illumination is within a preset photosensitive range or not, and acquiring a first checking result;
checking whether an included angle between the direction of the vehicle and illumination is within a preset visual field range or not, and acquiring a second checking result;
if the first test result is NO, the second test result is yes, an enhanced correction mode is selected;
and if the first test result is yes, the second test result is no, and then a weakening correction mode is selected.
Further, the sensor data correction program in the memory 130, when executed by the processor, further performs the steps of:
acquiring the direction of the vehicle, the coordinates of the vehicle and time information at the current moment through a Global Navigation Satellite System (GNSS);
the horizontal angle of the vehicle is obtained through a sensor which is pre-arranged on the vehicle and senses the horizontal angle.
Further, the sensor data correction program in the memory 130, when executed by the processor, further performs the steps of:
establishing a vehicle body coordinate model based on vehicle body architecture data of the vehicle;
calculating an illumination receiving range of the light sensor based on the vehicle body coordinate model and the pre-acquired position information of the light sensor, and setting the illumination receiving range as a photosensitive range;
and calculating a visible range of the driving position based on the vehicle body coordinate system model, and setting the visible range of the driving position as a visual field range.
Further, the sensor data correction program in the memory 130, when executed by the processor, further performs the steps of:
acquiring a corresponding correction value based on a preset angle range where the illumination angle is located;
when an enhanced correction mode is selected, increasing the light intensity data based on the correction value;
when a fade correction mode is selected, the light intensity data is reduced based on the correction value.
According to the scheme, the included angle between the direction of the vehicle and illumination is calculated, the light intensity data acquired by the light sensor arranged in advance on the vehicle is acquired, the correction mode of the light intensity data is selected based on the direction of the vehicle and the included angle between the illumination, the light intensity data is corrected according to the correction mode of the light intensity data, and the light intensity value acquired by the light sensor on the vehicle can be more consistent with the light intensity perceived by human eyes, so that errors between the light intensity perceived by the light sensor on the vehicle and the light intensity perceived by human eyes are reduced.
Based on the above terminal device architecture, but not limited to the above architecture, the method embodiments of the present application are presented.
Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of a sensor data correction method according to the present invention, where the sensor data correction method includes:
step S1000: acquiring an included angle between the direction of the vehicle and illumination at the current moment;
the main idea of the invention is that the light intensity sensed by the light sensor for the vehicle on the installation position of the light sensor for the vehicle is inevitably error or deviation from the light intensity sensed by human eyes of drivers in the vehicle, and the main idea of the invention is that the included angle between the running direction of the vehicle and illumination is calculated by sensing the state of the vehicle and time information, and a related algorithm is executed, and the sensing data of the light sensor is selected based on the included angle to be corrected, so that the data is more similar to human eye sensing, therefore, in the embodiment, the included angle between the direction of the vehicle where the light sensor is positioned and illumination is firstly required to be obtained at the current moment, so that the subsequent data correction mode is selected.
Wherein, the light sensor may include: illuminance sensors, visible light sensors, or other light sensors that operate based on light sensing devices such as photoresistors or photodiodes.
Step S2000: acquiring light intensity data acquired by the light sensor;
in this embodiment, the processing object of the sensor data correction method is the light intensity data collected by the light sensor, and the light sensor itself has no function of processing data, so after the light sensor senses and collects the light intensity data, the system on which the sensor data correction method is implemented obtains the light intensity data and processes the data according to the processing logic so as to make the data approach to the light intensity sensed by human eyes.
Step S3000: selecting a correction mode of the light intensity data based on an angle between the orientation of the vehicle and illumination;
according to the included angle between the direction of the vehicle and illumination and the structure of the vehicle, the running direction of the vehicle at the current moment can be calculated, the human eyes can directly sense the illumination in which angle ranges, the light sensor can sense the illumination in which angle ranges, and according to the sensing ranges of the human eyes and the light sensor on the illumination and the included angle between the direction of the vehicle and the illumination at the current moment, a proper correction mode can be selected to correct the light intensity data obtained by the light sensor, for example, the light intensity data is required to be increased through algorithm judgment, an enhancement mode can be selected, or the light intensity data is required to be reduced through algorithm calculation judgment, and then a weakening mode can be selected.
Step S4000: and correcting the light intensity data according to the correction mode of the light intensity data.
After analyzing the included angle between the vehicle orientation and illumination and selecting a corresponding correction mode, the light intensity data collected by the light sensor can be correspondingly increased or decreased.
Specifically, in the present embodiment, step S1000: the obtaining the included angle between the direction of the vehicle and the illumination at the current moment may include:
step S1010: acquiring time information of the current moment and coordinates, directions and horizontal dip angles of the vehicle;
step S1020: calculating according to the coordinates and time information of the vehicle to obtain an illumination angle;
step S1030: calculating to obtain a vehicle angle according to the direction of the vehicle and the horizontal inclination angle of the vehicle;
step S1040: and calculating an included angle between the direction of the vehicle and illumination according to the illumination angle and the vehicle angle.
Specifically, referring to fig. 3, as an embodiment, the following steps may be employed to calculate the angle between the illumination and the vehicle by means of date, time, vehicle coordinates, vehicle traveling direction, and the angle between the vehicle and the horizontal line:
acquiring current date and time information: the current date and time information may be obtained using a suitable programming language or library (e.g., datetime module of Python), and the time information may include year, month, day, hour, minute, second, etc.
Calculating the position of the sun according to the date and time information: solar azimuth and altitude angles may be calculated from the current date, time, and geographic coordinates (longitude and latitude) of the vehicle using astronomical algorithms or method libraries (e.g., pyEphem or Astronomer's almanaac data).
For example, calculating the angle between the light and the horizontal line, i.e. the light angle theta solar After the azimuth angle and the altitude angle of the sun are obtained according to the time information, the azimuth angle and the altitude angle of the sun can be calculated by the following formula:
θ solar ＝90°-α s wherein alpha is s Is the altitude of the sun.
Calculating a traveling direction angle of the vehicle, i.e., a vehicle angle θ, from the orientation and the horizontal inclination of the vehicle c After (angle to horizontal), the angle θ between the vehicle orientation and the illumination can be calculated using the following formula vehicle ：
θ vehicle ＝θ c -θ solar ；
It should be understood that, in order to ensure that the calculation results in different coordinate systems are more consistent with the actual situation, the calculation mode of the angle can be adjusted according to the specific coordinate system, and in addition, the included angle between the illumination and the vehicle orientation can be a vector angle or a scalar angle, however, whether the vector angle or the scalar angle is adopted, the included angle between the vehicle and the illumination at the current moment is always a quantifiable value, and the difference between the included angle between the vehicle and the illumination at the same moment and the coordinate is not considered to be caused by different adopted definitions.
Also, the calculated angle range may be limited to a specific range, for example, 0 ° to 360 ° or-180 ° to 180 °, as needed.
The included angle (theta) between the illumination and the vehicle can be obtained through the processing vehicle ) The angle may be expressed in degrees or radians, it being understood that the angle may be expressed in terms of which direction the illumination is directed from the vehicle and its relationship to the orientation of the vehicle.
Further, in the embodiment, step S1010: the obtaining of the time information of the current moment and the coordinates, the direction and the horizontal inclination angle of the vehicle may include:
step S1011: acquiring the direction of the vehicle, the coordinates of the vehicle and time information at the current moment through a Global Navigation Satellite System (GNSS);
global navigation satellite System GNSS is a technology for determining geographic location and navigation that relies on a set of satellites in earth orbit to transmit precise time and location information to a terrestrial receiver, such as the United states GPS (Global positioning System), e.g., russian GLONASS, european Galileo, china BeiDo, etc.
In this embodiment, as shown in fig. 3, signals from satellites may be continuously received by a GNSS receiver installed on a vehicle or a GNSS service integrated with a vehicle-mounted computer, and these signals may include information such as the position, precise time, and satellite identification of the satellites.
After receiving satellite signals by the GNSS, the geographic coordinates of the vehicle can be calculated by the principle of triangulation, that is, the position of the vehicle receiving the signals can be determined by simultaneously receiving the signals of a plurality of satellites and measuring their distances.
Step S1012: the horizontal angle of the vehicle is obtained through a sensor which is pre-arranged on the vehicle and senses the horizontal angle.
The horizontal angle of the vehicle, i.e. the angle between the vehicle orientation and the horizontal line, can be sensed by additional sensors, such as gyroscopes or magnetometers, gravity sensors, geomagnetic field sensors, acceleration sensors, etc.
Specifically, in this embodiment, the step S3000: selecting a correction mode for the light intensity data based on an angle between an orientation of the vehicle and illumination may include:
step S3010: checking whether an included angle between the direction of the vehicle and illumination is within a preset photosensitive range or not, and acquiring a first checking result;
step S3020: checking whether an included angle between the direction of the vehicle and illumination is within a preset visual field range or not, and acquiring a second checking result;
step S3030: if the first test result is NO, the second test result is yes, an enhanced correction mode is selected;
step S3040: and if the first test result is yes, the second test result is no, and then a weakening correction mode is selected.
The light sensor is arranged at a fixed position of the vehicle, and can be a position of a center console, a front windshield, the back of a rearview mirror or the like of the vehicle, an imperative light perception range and an imperceptible range exist, and a driver or a passenger can be illuminated to different degrees at the eye position due to different angles or structural blockage in the vehicle, namely, the person in the vehicle can also have a range capable of directly perceiving light and a range incapable of directly perceiving.
Because the vehicle structure, the sensor position and the driver posture are relatively stable, the light perceivable range of the positions can be obtained relatively simply, and the passenger posture can be changed, but the light perceivable range and the non-perceivable range of each position can be determined through coordinates in a relatively static vehicle space.
Specifically, as shown in fig. 3, after calculating the included angle between the vehicle and the illumination, a corresponding correction mode may be selected to correct the light intensity data according to the range of the included angle, if it is detected that the sensor can directly sense the illumination in the state of the included angle of the vehicle, and the driver position cannot be directly illuminated by the illumination in the state of the included angle, the light intensity value sensed by the attenuation mode reduction sensor should be selected to make the value more conform to the human eye sensing condition, that is, if the included angle is in the light sensing range of the sensor but not in the visual field range of the driver, the attenuation mode of data correction should be selected.
Correspondingly, if the sensor cannot directly sense the illumination under the state of the included angle and the human eye can be directly illuminated by the illumination after inspection, the enhancement mode should be selected to increase the value of the intensity of the light acquired by the sensor, that is, if the included angle is in the visual field of the driver but not in the photosensitive range of the sensor, the enhancement mode for data correction should be selected to make the value more similar to the intensity of the light sensed by the human eye directly illuminated by the light.
Specifically, in this embodiment, the step S4000: the correcting the light intensity data according to the correction mode of the light intensity data may include:
step S4010: acquiring a corresponding correction value based on a preset angle range where the illumination angle is located;
step S4020: when an enhanced correction mode is selected, increasing the light intensity data based on the correction value;
step S4030: when a fade correction mode is selected, the light intensity data is reduced based on the correction value.
Referring to fig. 3, when the data acquired by the light sensor is corrected, the degree of enhancement or attenuation, that is, a specific numerical value, can be selected, and can be determined by the range of the included angle between the vehicle and the illumination, the included angle between the vehicle and the illumination can reflect the relative relationship between the illumination and the vehicle and any position in the vehicle, and different illumination intensities of any position in the vehicle in the included angle state can be determined according to the relative relationship, so that a corresponding relationship table between the included angle between the vehicle and the illumination and the correction numerical value or a corresponding relationship formula between the included angle between the vehicle and the illumination and the correction numerical value can be established, thereby determining the correction numerical value required to be acquired according to the included angle between the vehicle and the illumination.
Then, based on the correction value, if the enhancement mode of the sensor data is selected after the correction mode selection step is verified, the intensity value of the light acquired by the sensor is added with the correction value to obtain the enhanced intensity value of the light, and if the attenuation mode of the sensor data is selected, the intensity value of the light acquired by the sensor is subtracted to obtain the attenuated intensity value of the light on the basis of the intensity value of the light acquired by the sensor, and the intensity data acquired by the sensor is enhanced/attenuated, so that the data is more similar to human eyes' perception.
In this embodiment, the operation of increasing or decreasing or not correcting the light intensity value obtained by the light sensor is determined by calculating the included angle between the vehicle and the illumination and checking the range satisfied by the included angle, and after the increasing/decreasing is determined, the specific correction value is determined based on the included angle between the vehicle and the illumination to correct the light intensity data obtained by the light sensor, so that the data is closer to human eyes, and the error between the light intensity perceived by the sensor and the light intensity perceived by human eyes is reduced.
Further, referring to fig. 4, fig. 4 is a flowchart of a second embodiment of the sensor data correction method according to the present invention, based on the embodiment shown in fig. 2, the step S2000 is: the acquiring of the light intensity data acquired by the light sensor may further include:
step S2100; calculating the intensity change frequency of the light intensity data in a preset time;
step S2200; checking whether the intensity change frequency is lower than a preset frequency threshold value and checking whether the light intensity data exceeds a preset intensity threshold value;
step S2300; if the light intensity data exceeds a preset intensity threshold and the intensity change frequency is lower than a preset frequency threshold, executing the steps of: and selecting a correction mode of the light intensity data based on an included angle between the orientation of the vehicle and illumination.
Specifically, this embodiment is different from the embodiment shown in fig. 2 described above in that this embodiment is an explanation of conditions to be satisfied in the step of performing data correction on the sensor, that is, when conditions that should be corrected are satisfied, an operation of selecting the sensor data correction mode and performing data correction on the sensor data according to the correction mode is performed.
In this embodiment, the sensor data correction system on which the sensor data correction method depends and the hardware on which the system depends, that is, the vehicle-mounted computer, are used for calculating according to the coordinates and time information of the vehicle and updating the included angle between the vehicle and the illumination in real time, and the light sensor is used for collecting the light intensity data and the system and the vehicle are used for acquiring the data in real time, so that a proper data correction mode can be selected according to the real-time information and/or the data, and the light intensity data perceived by the sensor is close to the human eye perception.
The operation of selecting the data correction mode should be performed when correction is required, specifically, in this embodiment, when the light intensity is too fast or the light intensity is too low or the night time period, further correction may not be performed on the light intensity data acquired by the sensor, and correspondingly, when the light intensity is stable and the light intensity satisfies a certain condition, the data correction mode selection and the data correction should be performed.
Specifically, in this embodiment, the value of the light intensity obtained by the light sensor during a period of time may be queried, and the number of times of the light intensity change during the period of time may be calculated, where the change of the intensity may be defined as the change degree exceeding a predetermined change threshold, may be defined as being different from a predetermined intensity threshold, or may be defined as being different from a front-back value, or may be different from a front-back value, which is compared with the predetermined intensity threshold, and should be specifically selected according to the actual requirement, after the number of times of the light intensity change during the period of time is calculated, the frequency of the light change during the period of time may be calculated according to the length of time and the number of times of time, and the frequency of the light change during the period of time and the average light intensity during the period of time may be checked, and if the frequency is lower than the predetermined frequency threshold and the average light intensity is also higher than the predetermined average intensity threshold, the correction step of the light intensity data is performed, that is selected and corrected.
In this embodiment, by calculating the change frequency and the average light intensity of the light intensity data within the preset time, and checking whether the frequency and the average intensity meet the preset conditions, whether to correct the light intensity data is selected, the data correction range is controlled, so that the correction of the sensor data by the scheme is more suitable for the actual situation and is suitable for more complex and changeable environments.
Further, referring to fig. 5, fig. 5 is a flowchart illustrating a third embodiment of the sensor data correction method according to the present invention, based on the embodiment shown in fig. 2, step S2000: the acquiring of the light intensity data acquired by the light sensor may include:
step S1100: establishing a vehicle body coordinate model based on vehicle body architecture data of the vehicle;
step S1200: calculating an illumination receiving range of the light sensor based on the vehicle body coordinate model and the pre-acquired position information of the light sensor, and setting the illumination receiving range as a photosensitive range;
step S1300: and calculating a visible range of the driving position based on the vehicle body coordinate system model, and setting the visible range of the driving position as a visual field range.
Specifically, this embodiment is different from the embodiment shown in fig. 2 described above in that this embodiment is a description of the relevant preset data and implementation basis of the embodiment shown in fig. 2.
Specifically, in the scheme of the invention, the data of the light sensor is adjusted, and the adjusted data can be used for controlling the external illumination, the internal illumination or adjusting the brightness of a central control display screen and the like of the vehicle.
Specifically, a coordinate model of the vehicle is built according to structural data of the vehicle, a laser radar (LiDAR) or other sensors can be used for three-dimensionally scanning the vehicle body to obtain point cloud data of the vehicle body, each point comprises a position coordinate (x, y, z) on the vehicle body, then a coordinate system of the vehicle body is determined, the center of gravity of the vehicle body or the front part of the vehicle can be taken as an origin, then directions of an x axis, a y axis and a z axis are defined to ensure that the coordinate system is consistent with the direction of the vehicle body, then coordinate transformation is performed on the acquired point cloud data, and each point in the point cloud is converted from the laser radar coordinate system to the vehicle body coordinate system, which can be achieved by applying proper rotation and translation transformation on the position of each point.
And establishing a coordinate model of the vehicle body by using the converted point cloud data, and adopting a polynomial fitting method, a curved surface fitting method or a grid-based method to obtain smooth representation of the surface of the vehicle body.
The light receiving range of the light sensor is calculated based on the vehicle body coordinate model and the preset position information of the light sensor, the light receiving range can be realized by projecting light rays in the model and checking intersection points of the light rays in a coordinate system, the light receiving range of the sensor is obtained based on a position set where the intersection points are located, and the calculated light receiving range is set as a photosensitive range.
The calculation of the visual range of the driver's seat using the vehicle body coordinate model can be achieved by emitting rays from the driver's position and checking their intersection with the vehicle body model, defining the set of positions where the intersection is located as the visual range of the driver's seat, and setting the calculated visual range of the driver's seat as the visual field.
In the embodiment, a coordinate model of the vehicle is built through the structural data of the vehicle body, the photosensitive range of the sensor and the visual field range of personnel in the vehicle are calculated based on the coordinate model and the installation position of the light sensor, a selection basis is provided for the subsequent selection of the correction mode, the number requirement of the sensors is reduced, and the photosensitive range of any position sensor in the vehicle and the visual field range unknown to the human eyes can be calculated according to the coordinate system.
In addition, referring to fig. 6, an embodiment of the present invention further provides a sensor data correction device 60, which includes:
a first obtaining module 61, configured to obtain an angle between the direction of the vehicle and illumination at the current moment;
a second acquisition module 62, configured to acquire light intensity data acquired by the light sensor;
a selection module 63, configured to select a correction mode of the light intensity data based on an angle between an orientation of the vehicle and illumination;
and the correction module 64 is used for correcting the light intensity data according to the correction mode of the light intensity data.
In addition, the embodiment of the invention also provides a sensor data correction device, which comprises: the sensor data correction system comprises a memory, a processor and a sensor data correction program stored on the memory and capable of running on the processor, wherein the sensor data correction program is configured to realize the steps of the sensor data correction method.
In addition, the present invention also provides a computer-readable storage medium having stored thereon a sensor data correction program which, when executed by a processor, implements the steps of the embodiments of the sensor data correction method described above.
In the embodiments of the apparatus, the terminal device and the computer readable storage medium of the present invention, all technical features of each embodiment of the sensor data correction method are included, and the expansion and explanation contents of the description are substantially the same as those of each embodiment of the sensor data correction method, which are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A sensor data correction method, characterized in that the method is applied to a vehicle on which a light sensor is preset, the method comprising the steps of:
acquiring an included angle between the direction of the vehicle and illumination at the current moment;
acquiring light intensity data acquired by the light sensor;
selecting a correction mode of the light intensity data based on an angle between the orientation of the vehicle and illumination;
and correcting the light intensity data according to the correction mode of the light intensity data.
2. The sensor data correction method according to claim 1, wherein the step of obtaining an angle between an orientation of the vehicle and illumination at the current time includes:
acquiring time information of the current moment and coordinates, directions and horizontal dip angles of the vehicle;
calculating according to the coordinates and time information of the vehicle to obtain an illumination angle;
calculating to obtain a vehicle angle according to the direction of the vehicle and the horizontal inclination angle of the vehicle;
and calculating an included angle between the direction of the vehicle and illumination according to the illumination angle and the vehicle angle.
3. The method of claim 1, wherein the step of acquiring the light intensity data collected by the light sensor further comprises:
calculating the intensity change frequency of the light intensity data in a preset time;
checking whether the intensity change frequency is lower than a preset frequency threshold value and checking whether the light intensity data exceeds a preset intensity threshold value;
if the light intensity data exceeds a preset intensity threshold and the intensity change frequency is lower than a preset frequency threshold, executing the steps of: and selecting a correction mode of the light intensity data based on an included angle between the orientation of the vehicle and illumination.
4. The sensor data correction method according to claim 2, wherein the step of selecting the correction mode of the light intensity data according to the angle between the orientation of the vehicle and the illumination includes:
checking whether an included angle between the direction of the vehicle and illumination is within a preset photosensitive range or not, and acquiring a first checking result;
checking whether an included angle between the direction of the vehicle and illumination is within a preset visual field range or not, and acquiring a second checking result;
if the first test result is NO, the second test result is yes, an enhanced correction mode is selected;
and if the first test result is yes, the second test result is no, and then a weakening correction mode is selected.
5. The sensor data correction method according to claim 2, wherein the step of acquiring time information of the current time and coordinates, orientation, and horizontal inclination of the vehicle includes:
acquiring the direction of the vehicle, the coordinates of the vehicle and time information at the current moment through a Global Navigation Satellite System (GNSS);
the horizontal angle of the vehicle is obtained through a sensor which is pre-arranged on the vehicle and senses the horizontal angle.
6. The method for modifying sensor data according to claim 4, wherein the step of acquiring the light intensity data collected by the light sensor further comprises:
establishing a vehicle body coordinate model based on vehicle body architecture data of the vehicle;
calculating an illumination receiving range of the light sensor based on the vehicle body coordinate model and the pre-acquired position information of the light sensor, and setting the illumination receiving range as a photosensitive range;
and calculating a visible range of the driving position based on the vehicle body coordinate model, and setting the visible range of the driving position as a visual field range.
7. The sensor data correction method as set forth in claim 4, wherein said step of correcting said light intensity data according to a correction pattern of said light intensity data includes:
acquiring a corresponding correction value based on a preset angle range where the illumination angle is located;
when an enhanced correction mode is selected, increasing the light intensity data based on the correction value;
when a fade correction mode is selected, the light intensity data is reduced based on the correction value.
8. A sensor data correction device, the device comprising:
the first acquisition module is used for acquiring an included angle between the direction of the vehicle at the current moment and illumination;
the second acquisition module is used for acquiring light intensity data acquired by a light sensor on the vehicle;
the selection module is used for selecting a correction mode of the light intensity data based on an included angle between the direction of the vehicle and illumination;
and the correction module is used for correcting the light intensity data according to the correction mode of the light intensity data.
9. A sensor data correction apparatus, the apparatus comprising: a memory, a processor and a sensor data modification program stored on the memory and executable on the processor, the sensor data modification program being configured to implement the steps of the sensor data modification method of any one of claims 1 to 7.
10. A storage medium having stored thereon a sensor data correction program which, when executed by a processor, implements the steps of the sensor data correction method according to any one of claims 1 to 7.
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