CN-115760557-B - Data verification method, device, equipment and readable storage medium

CN115760557BCN 115760557 BCN115760557 BCN 115760557BCN-115760557-B

Abstract

The invention provides a data verification method, a data verification device, data verification equipment and a readable storage medium. The method comprises the steps of superposing point cloud data and images acquired by sensor equipment with images acquired by an external environment camera, wherein the sensor equipment comprises a laser radar, a front-view camera and a millimeter wave radar, determining that the point cloud data and the images acquired by the sensor equipment are correct if the point cloud data and the images acquired by the sensor equipment are overlapped with the images acquired by the external environment camera, and determining that the point cloud data and the images acquired by the sensor equipment are incorrect if the point cloud data and the images acquired by the sensor equipment are not overlapped with the images acquired by the external environment camera. The invention solves the problems of non-ideal vehicle monitoring condition and easy deviation of data analysis results caused by no confirmation of the acquired data.

Inventors

XU XIN
FANG JIAMENG
WANG BEIBEI
Li Zhaogan
LIU XING

Assignees

东风商用车有限公司

Dates

Publication Date: 20260505
Application Date: 20221130

Claims (6)

1. A data verification method, characterized in that the data verification method comprises: superposing the point cloud data and the image acquired by the sensor equipment and the image acquired by the external environment camera, wherein the sensor equipment comprises a laser radar, a forward-looking camera and a millimeter wave radar; If the point cloud data and the image acquired by the sensor equipment are overlapped with the image acquired by the external environment camera, determining that the point cloud data and the image acquired by the sensor equipment are correct; If the point cloud data and the image acquired by the sensor equipment cannot be overlapped with the image acquired by the external environment camera, determining that the point cloud data and the image acquired by the sensor equipment are wrong; After the determination that the point cloud data and the image acquired by the sensor device are correct, the method comprises the following steps: the point cloud data and the image acquired by the sensor equipment are sent to an upper computer processing module through an electronic control unit; if the point cloud data and the image received by the upper computer processing module are different from the point cloud data and the image received by the electronic control unit, determining that the point cloud data and the image acquired by the sensor equipment are tampered in the transmission process; After the step of sending the point cloud data and the image acquired by the sensor equipment to the upper computer processing module through the electronic control unit, the method comprises the following steps: If the point cloud data and the image received by the upper computer processing module are the same as the point cloud data and the image received by the electronic control unit, acquiring positioning data of the electronic control unit and the upper computer processing module on the vehicle, map information of the place where the vehicle is located and identification results of the point cloud data and the image acquired by the sensor equipment; If the identification result output by the electronic control unit is the same as the identification result output by the upper computer processing module, the electronic control unit is determined to be correct.
2. The data verification method according to claim 1, wherein after the step of transmitting the point cloud data and the image acquired by the sensor device to the upper computer processing module through the electronic control unit, comprising: The upper computer processing module sends the positioning data of the vehicle, the map information of the place where the vehicle is located, and the point cloud data and the images acquired by the sensor equipment to the electronic control unit according to the acquisition sequence so as to control the vehicle to reproduce the scene by the electronic control unit.
3. The data verification method according to claim 1, characterized by comprising, after the step of superimposing the point cloud data and the image acquired by the sensor device with the image acquired by the external environment camera: Acquiring the superposition degree of point cloud data acquired by a laser radar, images acquired by a front-view camera and images acquired by a millimeter wave radar and an external environment camera; And determining the accuracy of the laser radar, the front-view camera and the millimeter wave radar based on the superposition degree, wherein the higher the superposition degree is, the higher the accuracy is.
4. A data verification device, characterized in that the data verification device comprises: The superposition module is used for superposing the point cloud data and the image acquired by the sensor equipment and the image acquired by the external environment camera, wherein the sensor equipment comprises a laser radar, a front-view camera and a millimeter wave radar; The first determining module is used for determining that the acquired data is error-free if the point cloud data and the image acquired by the sensor equipment are overlapped with the image acquired by the external environment camera; The second determining module is used for determining that the acquired data is wrong if the point cloud data and the image acquired by the sensor equipment cannot be overlapped with the image acquired by the external environment camera; The data verification device further comprises a verification module for: the point cloud data and the image acquired by the sensor equipment are sent to an upper computer processing module through an electronic control unit; if the point cloud data and the image received by the upper computer processing module are different from the point cloud data and the image received by the electronic control unit, determining that the point cloud data and the image acquired by the sensor equipment are tampered in the transmission process; The data verification device further comprises a verification module, which is further used for: If the point cloud data and the image received by the upper computer processing module are the same as the point cloud data and the image received by the electronic control unit, acquiring positioning data of the electronic control unit and the upper computer processing module on the vehicle, map information of the place where the vehicle is located and identification results of the point cloud data and the image acquired by the sensor equipment; If the identification result output by the electronic control unit is the same as the identification result output by the upper computer processing module, the electronic control unit is determined to be correct.
5. A data verification device comprising a processor, a memory, and a data verification program stored on the memory and executable by the processor, wherein the data verification program, when executed by the processor, implements the steps of the data verification method of any one of claims 1 to 3.
6. A readable storage medium, wherein a data verification program is stored on the readable storage medium, wherein the data verification program, when executed by a processor, implements the steps of the data verification method according to any one of claims 1 to 3.

Description

Data verification method, device, equipment and readable storage medium Technical Field The present invention relates to the field of intelligent driving technologies, and in particular, to a data verification method, device, apparatus, and readable storage medium. Background In the intelligent driving development link, the vehicle is required to collect all-round data, vehicle monitoring and data analysis are carried out based on the collected data, at present, the all-round data collection is realized mainly by accessing the whole set of sensor information and vehicle body information by means of external data collection equipment, but the collected data is not confirmed, so that the vehicle monitoring condition is not ideal, the data analysis result is easy to deviate, and therefore, how to quickly confirm the data becomes the technical problem to be solved urgently at present. Disclosure of Invention The invention mainly aims to provide a data verification method, a data verification device, data verification equipment and a readable storage medium, and aims to quickly confirm data. In a first aspect, the present invention provides a data verification method, the data verification method comprising: superposing the point cloud data and the image acquired by the sensor equipment and the image acquired by the external environment camera, wherein the sensor equipment comprises a laser radar, a forward-looking camera and a millimeter wave radar; If the point cloud data and the image acquired by the sensor equipment are overlapped with the image acquired by the external environment camera, determining that the point cloud data and the image acquired by the sensor equipment are correct; if the point cloud data and the image acquired by the sensor equipment cannot be overlapped with the image acquired by the external environment camera, determining that the point cloud data and the image acquired by the sensor equipment are wrong. Optionally, after determining that the point cloud data and the image acquired by the sensor device are correct, the method includes: the point cloud data and the image acquired by the sensor equipment are sent to an upper computer processing module through an electronic control unit; if the point cloud data and the image received by the upper computer processing module are different from the point cloud data and the image received by the electronic control unit, the point cloud data and the image acquired by the sensor equipment are determined to be tampered in the transmission process. Optionally, after the step of sending the point cloud data and the image acquired by the sensor device to the upper computer processing module through the electronic control unit, the method includes: If the point cloud data and the image received by the upper computer processing module are the same as the point cloud data and the image received by the electronic control unit, acquiring positioning data of the electronic control unit and the upper computer processing module on the vehicle, map information of the place where the vehicle is located and identification results of the point cloud data and the image acquired by the sensor equipment; If the identification result output by the electronic control unit is the same as the identification result output by the upper computer processing module, the electronic control unit is determined to be correct. Optionally, after the step of sending the point cloud data and the image acquired by the sensor device to the upper computer processing module through the electronic control unit, the method includes: The upper computer processing module sends the positioning data of the vehicle, the map information of the place where the vehicle is located, and the point cloud data and the images acquired by the sensor equipment to the electronic control unit according to the acquisition sequence so as to control the vehicle to reproduce the scene by the electronic control unit. Optionally, after the step of superimposing the point cloud data and the image acquired by the sensor device with the image acquired by the external environment camera, the method includes: Acquiring the superposition degree of point cloud data acquired by a laser radar, images acquired by a front-view camera and images acquired by a millimeter wave radar and an external environment camera; And determining the accuracy of the laser radar, the front-view camera and the millimeter wave radar based on the superposition degree, wherein the higher the superposition degree is, the higher the accuracy is. In a second aspect, the present invention also provides a data verification apparatus, including: The superposition module is used for superposing the point cloud data and the image acquired by the sensor equipment and the image acquired by the external environment camera, wherein the sensor equipment comprises a laser radar, a front-view camera and a millimeter wave radar; The first determining mod