CN113124897B

CN113124897B - Sensor performance detection method, device and terminal

Info

Publication number: CN113124897B
Application number: CN201911421194.1A
Authority: CN
Inventors: 房家奕; 沈天珺; 刘龙山
Original assignee: CICTCI Technology Co Ltd
Current assignee: CICT Connected and Intelligent Technologies Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2024-04-09
Anticipated expiration: 2039-12-31
Also published as: CN113124897A

Abstract

The invention discloses a sensor performance detection method, a device and a terminal, wherein the method comprises the following steps: acquiring first measurement data, wherein the first measurement data is obtained by sensing a target object in a vehicle running environment by a vehicle-mounted sensor; and acquiring second measurement data, wherein the second measurement data is obtained by sensing a target object in a vehicle running environment by a standard sensor, and detecting whether the performance of the vehicle-mounted sensor meets the safety requirement of the vehicle according to the first measurement data and the second measurement data. The sensing data of the standard sensor is used as the data identical to the actual situation, and based on the measuring data of the standard sensor and the measuring data of the vehicle-mounted sensor, the problem that whether the measuring data of the vehicle-mounted sensor is inaccurate or the performance of the vehicle-mounted sensor is reduced due to false alarm or missing report is timely detected in the using process of the vehicle-mounted sensor is solved, so that the performance of the vehicle-mounted sensor in the using process is ensured to meet basic safety requirements, and the driving safety of a vehicle is ensured.

Description

Sensor performance detection method, device and terminal

技术领域Technical Field

本发明涉及车辆技术领域，尤其涉及一种传感器性能检测方法、装置及终端。The present invention relates to the field of vehicle technology, and in particular to a sensor performance detection method, device and terminal.

背景技术Background technique

车联网是一种结合导航定位、无线通信以及远程感应等技术的新的汽车技术发展方向。近年来，智能网联技术一直收到广泛关注，而车与外界(vehicle to X，简称V2X)技术作为车联网领域核心技术，与智能技术也存在结合点。如车辆感知数据的主要来源为车辆自身的传感器，但感知距离受环境因素影响较大，而V2X技术作为“超视距感知传感器”，能够辅助车辆扩展感知范围，提高驾驶的安全性。The Internet of Vehicles is a new direction of automotive technology development that combines navigation positioning, wireless communication, and remote sensing technologies. In recent years, intelligent network technology has received widespread attention, and vehicle to X (V2X) technology, as a core technology in the field of Internet of Vehicles, also has a connection with intelligent technology. For example, the main source of vehicle perception data is the vehicle's own sensors, but the perception distance is greatly affected by environmental factors. V2X technology, as a "beyond visual range perception sensor", can assist vehicles in expanding their perception range and improving driving safety.

在传感器的生产阶段，由生产线通过标定和检测校对，保证传感器的精确性。对于车辆感知系统而言，车辆自身的传感器大部分时间处于工作状态，且车辆在使用过程中，往往处于复杂的交通环境中，对传感器的损耗非常大，虽然传感器在出厂时会进行标定操作，且传感器发生故障时，会向车主进行提示，但是一方面随着传感器的使用时间增加，传感器的感知精度、灵敏度等性能会因为使用损耗而降低，出现感知不准确、误报漏报、无法自我检测等问题；另一方面虽然传感器会自检是否有故障，但只是对是否影响设备正常运行方面进行检测目前，在传感器使用过程中，因传感器性能损耗造成感知能力下降，出现感知不准确、误报漏报等现象时，车辆无法及时察觉，在发生事故后才能被发现并由维修点进行维修或更换，不能保证行车安全。因此急需一种对使用过程中的传感器的性能进行安全性检测的方案。During the production stage of the sensor, the production line calibrates and tests the sensor to ensure its accuracy. For the vehicle perception system, the vehicle's own sensors are in working condition most of the time, and the vehicle is often in a complex traffic environment during use, which causes great loss to the sensor. Although the sensor will be calibrated when it leaves the factory, and the owner will be prompted when the sensor fails, on the one hand, as the sensor is used for a longer time, the sensor's perception accuracy, sensitivity and other performance will decrease due to wear and tear, resulting in inaccurate perception, false alarms, missed alarms, and inability to self-detect. On the other hand, although the sensor will self-check whether there is a fault, it only detects whether it affects the normal operation of the equipment. At present, during the use of the sensor, the perception ability is reduced due to the loss of sensor performance, and when inaccurate perception, false alarms, missed alarms and other phenomena occur, the vehicle cannot detect it in time. It can only be discovered after an accident and repaired or replaced by a maintenance point, which cannot ensure driving safety. Therefore, there is an urgent need for a solution to perform safety testing on the performance of sensors during use.

发明内容Summary of the invention

为了解决上述技术问题，本发明提供了一种传感器性能检测方法、装置及终端，解决了现有技术在车载传感器使用过程中，无法及时察觉因传感器性能损耗造成感知能力下降，出现的感知不准确和误报漏报等现象，不能保证行车安全的问题。In order to solve the above technical problems, the present invention provides a sensor performance detection method, device and terminal, which solves the problem that the prior art cannot promptly detect the decline in perception ability caused by sensor performance loss during the use of vehicle-mounted sensors, resulting in inaccurate perception and false alarms, and cannot ensure driving safety.

依据本发明的第一个方面，提供了一种传感器性能检测方法，包括：According to a first aspect of the present invention, a sensor performance detection method is provided, comprising:

获取第一测量数据，所述第一测量数据是车载传感器对车辆行驶环境中的目标物进行感知得到的数据；Acquire first measurement data, where the first measurement data is data obtained by the vehicle-mounted sensor sensing a target object in the vehicle driving environment;

获取第二测量数据，所述第二测量数据是标准传感器对车辆行驶环境中的目标物进行感知得到的数据；Acquire second measurement data, where the second measurement data is data obtained by a standard sensor sensing a target object in a vehicle driving environment;

根据所述第一测量数据和所述第二测量数据，检测所述车载传感器的性能是否满足车辆的安全性要求。Whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle is detected according to the first measurement data and the second measurement data.

可选的，根据所述第一测量数据和所述第二测量数据，检测所述车载传感器的性能是否满足车辆的安全性要求包括：Optionally, detecting, according to the first measurement data and the second measurement data, whether the performance of the vehicle-mounted sensor meets the safety requirement of the vehicle includes:

根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果；Obtaining a detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data;

根据所述检测结果，检测所述车载传感器的性能是否满足车辆的安全性要求。According to the detection result, whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle is detected.

可选的，所述车载传感器的性能，包括以下至少一个方面：Optionally, the performance of the vehicle-mounted sensor includes at least one of the following aspects:

所述车载传感器的精密度，所述精密度反映所述车载传感器的测量数据的分散程度；The precision of the vehicle-mounted sensor, wherein the precision reflects the dispersion of the measurement data of the vehicle-mounted sensor;

所述车载传感器的精确度，所述精确度反映所述车载传感器的测量数据与真实值数据的偏离程度；The accuracy of the vehicle-mounted sensor, wherein the accuracy reflects the degree of deviation between the measurement data of the vehicle-mounted sensor and the true value data;

所述车载传感器的稳定性，所述稳定性反映所述车载传感器的测量数据由于所述车载传感器自身位置的改变引起的变化程度；The stability of the vehicle-mounted sensor, wherein the stability reflects the degree of change of the measurement data of the vehicle-mounted sensor due to the change of the position of the vehicle-mounted sensor itself;

所述车载传感器的影响量，所述影响量反映所述车载传感器的测量数据由于外界测量环境的改变引起的变化程度；The influence amount of the vehicle-mounted sensor, the influence amount reflects the degree of change of the measurement data of the vehicle-mounted sensor due to the change of the external measurement environment;

所述车载传感器的感知范围，所述感知范围反映所述车载传感器的测量距离。The sensing range of the vehicle-mounted sensor reflects the measurement distance of the vehicle-mounted sensor.

可选的，在所述车载传感器的性能包括所述车载传感器的精密度时，所述根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果包括：Optionally, when the performance of the vehicle-mounted sensor includes the precision of the vehicle-mounted sensor, obtaining the detection result of the performance of the vehicle-mounted sensor according to the first measurement data and the second measurement data includes:

根据所述标准传感器在第一时间长度内针对第一目标物连续多次感知的所述第二测量数据，获得所述车载传感器在所述第一时间长度内针对所述第一目标物连续多次感知的所述第一测量数据的第一分散值；Obtaining a first dispersion value of the first measurement data continuously sensed by the vehicle-mounted sensor for the first target object for multiple times within the first time length according to the second measurement data continuously sensed by the standard sensor for the first target object for multiple times within the first time length;

若所述第一分散值满足第一安全条件，则生成所述车载传感器的精密度满足车辆的安全性要求的检测结果；If the first scattered value satisfies a first safety condition, generating a detection result indicating that the precision of the vehicle-mounted sensor satisfies the safety requirement of the vehicle;

若所述第一分散值不满足所述第一安全条件，则生成所述车载传感器的精密度不满足车辆的安全性要求的检测结果。If the first dispersion value does not satisfy the first safety condition, a detection result is generated indicating that the precision of the vehicle-mounted sensor does not satisfy the safety requirement of the vehicle.

可选的，在所述车载传感器的性能包括所述车载传感器的精确度或者稳定性或者影响量时，所述根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果包括：Optionally, when the performance of the vehicle-mounted sensor includes the accuracy or stability or the influence amount of the vehicle-mounted sensor, obtaining the detection result of the performance of the vehicle-mounted sensor according to the first measurement data and the second measurement data includes:

获取所述车载传感器针对第一目标物感知的所述第一测量数据相对所述标准传感器针对所述第一目标物感知的所述第二测量数据的第一偏离值；Acquire a first deviation value of the first measurement data sensed by the vehicle-mounted sensor for a first target object relative to the second measurement data sensed by the standard sensor for the first target object;

若所述第一偏离值满足第二安全条件，则生成所述车载传感器的精确度或者稳定性或者影响量满足车辆的安全性要求的检测结果；If the first deviation value satisfies a second safety condition, generating a detection result that the accuracy or stability or the influence amount of the vehicle-mounted sensor meets the safety requirement of the vehicle;

若所述第一偏离值不满足第二安全条件，则生成所述车载传感器的精确度或者稳定性或者影响量不满足车辆的安全性要求的检测结果；If the first deviation value does not meet the second safety condition, generating a detection result that the accuracy or stability or the influence amount of the vehicle-mounted sensor does not meet the safety requirement of the vehicle;

其中，用于生成所述车载传感器的精确度的检测结果的所述第一测量数据、用于生成所述车载传感器的稳定性的检测结果的所述第一测量数据和用于生成所述车载传感器的影响量的检测结果的所述第一测量数据之间各不相同；wherein the first measurement data used to generate the detection result of the accuracy of the vehicle-mounted sensor, the first measurement data used to generate the detection result of the stability of the vehicle-mounted sensor, and the first measurement data used to generate the detection result of the influence amount of the vehicle-mounted sensor are different from each other;

用于生成所述车载传感器的精确度的检测结果的所述第二测量数据、用于生成所述车载传感器的稳定性的检测结果的所述第二测量数据和用于生成所述车载传感器的影响量的检测结果的所述第二测量数据之间各不相同。The second measurement data used to generate a detection result of the accuracy of the vehicle-mounted sensor, the second measurement data used to generate a detection result of the stability of the vehicle-mounted sensor, and the second measurement data used to generate a detection result of the influence amount of the vehicle-mounted sensor are different from each other.

可选的，在所述车载传感器的性能包括所述车载传感器的感知范围时，所述根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果包括：Optionally, when the performance of the vehicle-mounted sensor includes a sensing range of the vehicle-mounted sensor, obtaining a detection result of the performance of the vehicle-mounted sensor according to the first measurement data and the second measurement data includes:

获取所述车载传感器的标准感知距离，所述标准感知距离为满足所述车载传感器安全要求的感知距离；Acquire a standard sensing distance of the vehicle-mounted sensor, where the standard sensing distance is a sensing distance that meets safety requirements of the vehicle-mounted sensor;

若所述第二测量数据中包括所述标准感知距离以内的第一目标物，且所述第一测量数据中不包括所述标准感知距离以内的所述第一目标物，则生成所述车载传感器的感知范围不满足车辆的安全性要求的检测结果；If the second measurement data includes the first target object within the standard perception distance, and the first measurement data does not include the first target object within the standard perception distance, a detection result is generated indicating that the perception range of the vehicle-mounted sensor does not meet the safety requirements of the vehicle;

若所述第二测量数据和所述第一测量数据中均包括所述标准感知距离以内的第一目标物，则生成所述车载传感器的感知范围满足车辆的安全性要求的检测结果。If both the second measurement data and the first measurement data include the first target object within the standard perception distance, a detection result is generated indicating that the perception range of the vehicle-mounted sensor meets the safety requirement of the vehicle.

可选的，所述根据所述检测结果，检测所述车载传感器的性能是否满足车辆的安全性要求，包括：Optionally, detecting, according to the detection result, whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle includes:

在所述精密度的检测结果、所述精确度的检测结果、所述稳定性的检测结果、所述影响量的检测结果和所述感知范围的检测结果中的至少一项检测结果表明不满足车辆的安全性要求时，则检测所述车载传感器的性能不满足车辆的安全性要求。When at least one of the detection results of the precision, the detection results of the accuracy, the detection results of the stability, the detection results of the influence amount and the detection results of the perception range indicate that the safety requirements of the vehicle are not met, it is detected that the performance of the on-board sensor does not meet the safety requirements of the vehicle.

可选的，在判断所述车载传感器的性能不满足车辆的安全性要求之后，采取以下至少一项措施：Optionally, after determining that the performance of the vehicle-mounted sensor does not meet the safety requirements of the vehicle, at least one of the following measures is taken:

发送用于提醒车主对所述车载传感器进行维护的第一信息至终端；Sending a first message for reminding the vehicle owner to maintain the vehicle-mounted sensor to the terminal;

发送第二信息至车辆，以使所述车辆根据所述第二信息触发所述车载传感器的自动修正；Sending second information to the vehicle, so that the vehicle triggers automatic correction of the on-board sensor according to the second information;

发送第三信息至车辆，以使所述车辆根据所述第三信息触发所述车载传感器故障。The third information is sent to the vehicle, so that the vehicle triggers the on-board sensor fault according to the third information.

可选的，所述根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果之后，还包括：Optionally, after obtaining the detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data, the method further includes:

将预设时间周期内获得的所述检测结果，生成所述车载传感器在所述预设时间周期内的检测报告；Generate a detection report of the vehicle-mounted sensor within the preset time period based on the detection results obtained within the preset time period;

将所述检测报告发送给服务器。The detection report is sent to the server.

可选的，所述标准传感器包括以下至少一项：雷达、摄像头、温度传感器和光照传感器。Optionally, the standard sensor includes at least one of the following: a radar, a camera, a temperature sensor, and a light sensor.

可选的，所述标准传感器设置在车辆行驶的道路上。Optionally, the standard sensor is arranged on the road on which the vehicle is traveling.

可选的，所述目标物包括：感知范围内的动态目标物和/或静态目标物。Optionally, the target object includes: a dynamic target object and/or a static target object within a sensing range.

可选的，所述第一测量数据和所述第二测量数据分别包括以下至少一项：Optionally, the first measurement data and the second measurement data respectively include at least one of the following:

测量的时间、所述目标物的数量、所述目标物的位置坐标和所述目标物的类别。The measured time, the number of the targets, the location coordinates of the targets and the categories of the targets.

可选的，所述获取第二测量数据之后，还包括：Optionally, after acquiring the second measurement data, the method further includes:

获取所述第二测量数据中针对预设静态目标物感知的第一数据；Acquire first data sensed for a preset static target object in the second measurement data;

获取所述标准传感器在确认良好状态时感知所述预设静态目标物的标准测量数据；Acquiring standard measurement data of the standard sensor sensing the preset static target object when confirming a good state;

根据所述第一数据和所述标准测量数据，获得所述标准传感器性能的检测结果。A detection result of the standard sensor performance is obtained according to the first data and the standard measurement data.

依据本发明的第二个方面，提供了一种传感器性能检测装置，包括：According to a second aspect of the present invention, there is provided a sensor performance detection device, comprising:

第一获取模块，用于获取第一测量数据，所述第一测量数据是车载传感器对车辆行驶环境中的目标物进行感知得到的数据；A first acquisition module is used to acquire first measurement data, where the first measurement data is data obtained by the vehicle-mounted sensor sensing a target object in the vehicle driving environment;

第二获取模块，用于获取第二测量数据，所述第二测量数据是标准传感器对车辆行驶环境中的目标物进行感知得到的数据；A second acquisition module is used to acquire second measurement data, where the second measurement data is data obtained by a standard sensor sensing a target object in a vehicle driving environment;

检测模块，用于根据所述第一测量数据和所述第二测量数据，检测所述车载传感器的性能是否满足车辆的安全性要求。A detection module is used to detect whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle based on the first measurement data and the second measurement data.

依据本发明的第三个方面，提供了一种终端，包括：存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现如上所述的传感器性能检测方法的步骤。According to a third aspect of the present invention, a terminal is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the sensor performance detection method described above when executed by the processor.

依据本发明的第四个方面，提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如上所述的传感器性能检测方法的步骤。According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the sensor performance detection method described above are implemented.

本发明的实施例的有益效果是：The beneficial effects of the embodiments of the present invention are:

上述方案中，通过标准传感器对车辆行驶环境中的目标物进行感知获得第一测量数据；并获得车载传感器对车辆行驶环境中的目标物进行感知得到的第二测量数据；根据所述第一测量数据和所述第二测量数据，检测所述车载传感器的性能是否满足车辆的安全性要求。实现了在车载传感器使用过程中，及时检测出因传感器性能损耗造成感知能力下降，出现的感知不准确和误报漏报等问题，保证了行车安全。In the above scheme, the first measurement data is obtained by sensing the target in the vehicle driving environment through the standard sensor; and the second measurement data is obtained by sensing the target in the vehicle driving environment through the vehicle-mounted sensor; according to the first measurement data and the second measurement data, it is detected whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle. In the process of using the vehicle-mounted sensor, the perception ability is reduced due to the loss of sensor performance, and the problems such as inaccurate perception and false alarms are detected in time, ensuring driving safety.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

图1表示本发明实施例的传感器性能检测方法流程图之一；FIG1 is a flow chart showing a method for detecting sensor performance according to an embodiment of the present invention;

图2表示本发明实施例的传感器性能检测方法流程图之二；FIG2 shows a second flow chart of the sensor performance detection method according to an embodiment of the present invention;

图3表示本发明实施例的传感器性能检测方法流程图之三；FIG3 is a flow chart of a sensor performance detection method according to an embodiment of the present invention;

图4表示本发明实施例的车辆与路侧单元交互示意图；FIG4 is a schematic diagram showing the interaction between a vehicle and a roadside unit according to an embodiment of the present invention;

图5表示本发明实施例的传感器性能检测方法流程图之四；FIG5 is a fourth flow chart of the sensor performance detection method according to an embodiment of the present invention;

图6表示本发明实施例的传感器性能检测方法流程图之五；FIG6 shows a fifth flow chart of the sensor performance detection method according to an embodiment of the present invention;

图7表示本发明实施例的传感器性能检测装置结构框图；FIG7 is a block diagram showing a sensor performance detection device according to an embodiment of the present invention;

图8表示本发明实施例的终端的结构示意图。FIG. 8 is a schematic diagram showing the structure of a terminal according to an embodiment of the present invention.

具体实施方式Detailed ways

为使本发明要解决的技术问题、技术方案和优点更加清楚，下面将结合附图及具体实施例进行详细描述。在下面的描述中，提供诸如具体的配置和组件的特定细节仅仅是为了帮助全面理解本发明的实施例。因此，本领域技术人员应该清楚，可以对这里描述的实施例进行各种改变和修改而不脱离本发明的范围和精神。另外，为了清楚和简洁，省略了对已知功能和构造的描述。In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help fully understand the embodiments of the present invention. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. In addition, for clarity and brevity, the description of known functions and structures is omitted.

应理解，说明书通篇中提到的“一个实施例”或“一实施例”意味着与实施例有关的特定特征、结构或特性包括在本发明的至少一个实施例中。因此，在整个说明书各处出现的“在一个实施例中”或“在一实施例中”未必一定指相同的实施例。此外，这些特定的特征、结构或特性可以任意适合的方式结合在一个或多个实施例中。It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present invention. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

在本发明的各种实施例中，应理解，下述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本发明实施例的实施过程构成任何限定。In various embodiments of the present invention, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

另外，本文中术语“系统”和“网络”在本文中常可互换使用。Additionally, the terms "system" and "network" are often used interchangeably herein.

在本申请所提供的实施例中，应理解，“与A相应的B”表示B与A相关联，根据A可以确定B。但还应理解，根据A确定B并不意味着仅仅根据A确定B，还可以根据A和/或其它信息确定B。In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and/or other information.

本发明实施例中，接入网的形式不限，可以是包括宏基站(Macro Base Station)、微基站(Pico Base Station)、Node B(3G移动基站的称呼)、增强型基站(eNB)、家庭增强型基站(Femto eNB或Home eNode B或Home eNB或HeNB)、中继站、接入点、RRU(Remote RadioUnit，远端射频模块)、RRH(Remote Radio Head，射频拉远头)等的接入网。用户终端可以是移动电话(或手机)，或者其他能够发送或接收无线信号的设备，包括用户设备、个人数字助理(PDA)、无线调制解调器、无线通信装置、手持装置、膝上型计算机、无绳电话、无线本地回路(WLL)站、能够将移动信号转换为WiFi信号的CPE(Customer Premise Equipment，客户终端)或移动智能热点、智能家电、或其他不通过人的操作就能自发与移动通信网络通信的设备等。In the embodiment of the present invention, the form of the access network is not limited, and may be an access network including a macro base station (Macro Base Station), a micro base station (Pico Base Station), a Node B (the name of a 3G mobile base station), an enhanced base station (eNB), a home enhanced base station (Femto eNB or Home eNode B or Home eNB or HeNB), a relay station, an access point, an RRU (Remote Radio Unit), an RRH (Remote Radio Head), etc. The user terminal may be a mobile phone (or mobile phone), or other equipment capable of sending or receiving wireless signals, including user equipment, a personal digital assistant (PDA), a wireless modem, a wireless communication device, a handheld device, a laptop computer, a cordless phone, a wireless local loop (WLL) station, a CPE (Customer Premise Equipment) capable of converting a mobile signal into a WiFi signal, or a mobile smart hotspot, a smart home appliance, or other equipment that can spontaneously communicate with a mobile communication network without human operation.

具体地，本发明提供了一种传感器性能检测方法、装置及终端，解决了现有技术在车载传感器使用过程中，无法及时察觉因传感器性能损耗造成感知能力下降，出现的感知不准确和误报漏报等现象，不能保证行车安全的问题。Specifically, the present invention provides a sensor performance detection method, device and terminal, which solves the problem that the prior art cannot promptly detect the decline in perception ability caused by sensor performance loss during the use of vehicle-mounted sensors, resulting in inaccurate perception and false alarms and missed alarms, and cannot ensure driving safety.

如图1所示，本发明的实施例提供了一种传感器性能检测方法，包括以下步骤：As shown in FIG1 , an embodiment of the present invention provides a sensor performance detection method, comprising the following steps:

步骤11，获取第一测量数据，所述第一测量数据是车载传感器对车辆行驶环境中的目标物进行感知得到的数据；Step 11, obtaining first measurement data, where the first measurement data is data obtained by the vehicle-mounted sensor sensing a target object in the vehicle driving environment;

步骤12，获取第二测量数据，所述第二测量数据是标准传感器对车辆行驶环境中的目标物进行感知得到的数据；Step 12, obtaining second measurement data, where the second measurement data is data obtained by a standard sensor sensing a target object in a vehicle driving environment;

其中，所述标准传感器包括以下至少一项：雷达、摄像头、温度传感器和光照传感器。优选的，所述标准传感器设置在车辆行驶道路上。具体可以为车辆行驶的部分道路两侧或上方。车载传感器安装在车辆上，包括但不限于：雷达、摄像头、温度传感器和光照传感器等。The standard sensor includes at least one of the following: radar, camera, temperature sensor and light sensor. Preferably, the standard sensor is arranged on the road where the vehicle is traveling. Specifically, it can be on both sides or above part of the road where the vehicle is traveling. The vehicle-mounted sensor is installed on the vehicle, including but not limited to: radar, camera, temperature sensor and light sensor, etc.

其中，所述目标物包括：感知范围内的动态目标物和/或静态目标物。可以理解，标准传感器和车载传感器感知的目标物的数据不仅限于一种，可包括对一个目标物的感知数据或多个目标物的感知数据。The target includes: a dynamic target and/or a static target within the sensing range. It is understood that the data of the target sensed by the standard sensor and the vehicle-mounted sensor is not limited to one type, and may include the sensing data of one target or the sensing data of multiple targets.

具体的，动态目标物可包括道路上的车辆和行人等物理位置发生动态变化物体或被测车辆自身。静态目标物可包括：道路标牌和固定信号灯等物理位置不发生动态变化的物体，但应当指出，静态目标物本身内容可以发生变化，如标牌内容、信号灯内容等。Specifically, dynamic targets may include objects whose physical positions change dynamically, such as vehicles and pedestrians on the road, or the measured vehicle itself. Static targets may include objects whose physical positions do not change dynamically, such as road signs and fixed traffic lights, but it should be noted that the content of static targets themselves may change, such as the content of signs and traffic lights.

进一步的，所述第一测量数据和所述第二测量数据分别包括以下至少一项：Furthermore, the first measurement data and the second measurement data respectively include at least one of the following:

测量的时间、目标物的数量、目标物的位置坐标和目标物的类别。即，标准传感器和车载传感器可感知的数据包括但不限于：感知持续时间、目标物个数、目标物坐标和目标物类别。The measured time, the number of targets, the location coordinates of the targets and the categories of the targets. That is, the data that can be sensed by standard sensors and vehicle-mounted sensors include but are not limited to: sensing duration, number of targets, target coordinates and target categories.

步骤13，根据所述第一测量数据和所述第二测量数据，检测所述车载传感器的性能是否满足车辆的安全性要求。Step 13: Detect whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle based on the first measurement data and the second measurement data.

其中，所述车载传感器的性能，包括以下至少一项：The performance of the vehicle-mounted sensor includes at least one of the following:

上述实施例中，通过标准传感器对车辆行驶环境中的目标物进行感知获得第一测量数据；并获得车载传感器对车辆行驶环境中的目标物进行感知得到的第二测量数据；根据所述第一测量数据和所述第二测量数据，实现了在车载传感器使用过程中，及时检测所述车载传感器的性能是否满足车辆的安全性要求。避免因传感器性能损耗造成感知能力下降，出现的感知不准确和误报漏报等问题影响行车安全。In the above embodiment, the first measurement data is obtained by sensing the target in the vehicle driving environment through the standard sensor; and the second measurement data is obtained by sensing the target in the vehicle driving environment through the vehicle-mounted sensor; according to the first measurement data and the second measurement data, it is realized that during the use of the vehicle-mounted sensor, the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle in a timely manner. This avoids the decline in perception ability due to sensor performance loss, and the occurrence of inaccurate perception and false alarms that affect driving safety.

在一可选实施例中，步骤13包括：In an optional embodiment, step 13 includes:

步骤131，根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果；Step 131, obtaining a detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data;

其中，车载传感器性能的检测结果包括对车载传感器的各项性能是否满足车辆的安全要求的检测结果。具体包括以下至少一项：精密度检测结果、精密度检测结果、稳定性检测结果、影响量检测结果和感知范围检测结果。The test results of the vehicle sensor performance include the test results of whether the various performances of the vehicle sensor meet the safety requirements of the vehicle, and specifically include at least one of the following: precision test results, accuracy test results, stability test results, impact test results, and perception range test results.

步骤132，根据所述检测结果，检测所述车载传感器的性能是否满足车辆的安全性要求。Step 132: Detect whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle based on the detection result.

具体的，步骤132可以包括：Specifically, step 132 may include:

在所述精密度的检测结果、所述精确度的检测结果、所述稳定性的检测结果、所述影响量的检测结果和所述感知范围的检测结果中的至少一项检测结果表明不满足车辆的安全性要求时，则检测所述车载传感器的性能不满足车辆的安全性要求。即，在检测所述车载传感器的整体性能是否满足车辆的安全性要求时，可以根据实际情况，选择车载传感器的一项性能或其中几项性能进行确定。When at least one of the precision test result, the accuracy test result, the stability test result, the influence amount test result and the sensing range test result indicates that the vehicle safety requirement is not met, the performance of the vehicle sensor is detected to be not satisfied with the vehicle safety requirement. That is, when detecting whether the overall performance of the vehicle sensor meets the vehicle safety requirement, one or several performances of the vehicle sensor may be selected for determination according to actual conditions.

进一步的，在检测到所述车载传感器的性能不满足车辆的安全性要求之后，还包括以下至少一项：Further, after detecting that the performance of the vehicle-mounted sensor does not meet the safety requirements of the vehicle, at least one of the following is also included:

需要说明的是，第一信息可以以短信或者APP通知的形式发送给用户终端，以提醒用户尽快对车载传感器进行维护。触发所述车载传感器的自动修正包括触发车载传感器的重启或恢复出厂设置等自动修正操作。进一步可将车载传感器性能下降不满足车辆安全要求的情况设定为一种故障类型，在确定故障时，通过第三信息触发车载传感器故障，并以故障警示灯和/或故障提示音的形式予以提醒，以提醒车主进行维修。It should be noted that the first information can be sent to the user terminal in the form of a text message or APP notification to remind the user to maintain the vehicle-mounted sensor as soon as possible. Triggering the automatic correction of the vehicle-mounted sensor includes triggering automatic correction operations such as restarting or restoring the factory settings of the vehicle-mounted sensor. Further, the situation where the performance of the vehicle-mounted sensor is degraded and does not meet the vehicle safety requirements can be set as a fault type. When the fault is determined, the vehicle-mounted sensor fault is triggered by the third information, and a fault warning light and/or fault prompt sound are used to remind the owner to perform repairs.

进一步的，步骤131之后，还包括：Furthermore, after step 131, the method further includes:

需要说明的是，服务器包括但不限于终端服务器或网站服务器。预设时间周期可以包括每天、每周或每月等时间周期。实现将车载传感器性能的检测包括以日报、周报或月报等形式发送给用户终端、用户APP或第三方网站上，以供用户监控车载传感器的性能，及时发现问题和维修。其中，检测报告生成方包括但不限于车载传感器所在车辆本身、标准传感器、服务器。It should be noted that the server may include but is not limited to a terminal server or a website server. The preset time period may include a daily, weekly or monthly time period. The detection of the performance of the vehicle-mounted sensor includes sending it to the user terminal, user APP or third-party website in the form of a daily, weekly or monthly report, so that the user can monitor the performance of the vehicle-mounted sensor, find problems and repair them in time. Among them, the test report generator includes but is not limited to the vehicle itself where the vehicle-mounted sensor is located, the standard sensor, and the server.

下面分别对获取车载传感器的各项性能检测结果进行介绍。The following is an introduction to the performance test results of the vehicle-mounted sensors.

1、车载传感器的精密度1. Precision of vehicle sensors

在一可选实施例中，在所述车载传感器的性能包括所述车载传感器的精密度时，步骤131包括：In an optional embodiment, when the performance of the vehicle-mounted sensor includes the precision of the vehicle-mounted sensor, step 131 includes:

若所述第一分散值不满足所述第一安全条件，则生成所述车载传感器的精密度不满足车辆的安全性要求的检测结果。If the first scattered value does not satisfy the first safety condition, a detection result is generated indicating that the precision of the vehicle-mounted sensor does not satisfy the safety requirement of the vehicle.

具体的，若所述第一分散值小于第一安全阈值，则生成所述车载传感器的精密度满足车辆的安全性要求的检测结果；Specifically, if the first dispersion value is less than a first safety threshold, a detection result is generated indicating that the precision of the vehicle-mounted sensor meets the safety requirement of the vehicle;

若所述第一分散值大于或者等于所述第一安全阈值，则生成所述车载传感器的精密度不满足车辆的安全性要求的检测结果。If the first dispersion value is greater than or equal to the first safety threshold, a detection result is generated indicating that the precision of the vehicle-mounted sensor does not meet the safety requirement of the vehicle.

需要说明的是，标准传感器针对同一目标物多次感知的第二测量数据为标准数据，可作为基准值，用于计算第一测量数据的分散程度(第一分散值)。具体的，第一分散值的计算方法可以包括：通过取正数，计算出多次感知的第一测量数据与第二测量数据相同的次数占总测量次数的比率，将此比率作为第一分散值；或者将第二测量数据作为基准值，计算车载传感器多次测量数据的方差，以方差作为第一分散值，反映车载传感器的测量数据离真实数据的离散程度和波动性。It should be noted that the second measurement data sensed by the standard sensor for the same target object multiple times is the standard data, which can be used as a reference value to calculate the dispersion degree of the first measurement data (first dispersion value). Specifically, the calculation method of the first dispersion value may include: by taking a positive number, calculating the ratio of the number of times the first measurement data sensed multiple times is the same as the second measurement data to the total number of measurements, and using this ratio as the first dispersion value; or using the second measurement data as the reference value, calculating the variance of the multiple measurement data of the vehicle-mounted sensor, and using the variance as the first dispersion value, reflecting the degree of dispersion and volatility of the measurement data of the vehicle-mounted sensor from the real data.

2、车载传感器的精确度、稳定性和影响量2. Accuracy, stability and impact of vehicle sensors

具体的，在所述车载传感器的性能包括所述车载传感器的精确度或者稳定性或者影响量时，步骤131包括：Specifically, when the performance of the vehicle-mounted sensor includes the accuracy or stability or influence of the vehicle-mounted sensor, step 131 includes:

其中，用于生成所述车载传感器的精确度的检测结果的第一测量数据、用于生成所述车载传感器的稳定性的检测结果的第一测量数据和用于生成所述车载传感器的影响量的检测结果的第一测量数据之间各不相同；The first measurement data used to generate the detection result of the accuracy of the vehicle-mounted sensor, the first measurement data used to generate the detection result of the stability of the vehicle-mounted sensor, and the first measurement data used to generate the detection result of the influence amount of the vehicle-mounted sensor are different from each other;

用于生成所述车载传感器的精确度的检测结果的第二测量数据、用于生成所述车载传感器的稳定性的检测结果的第二测量数据和用于生成所述车载传感器的影响量的检测结果的第二测量数据之间各不相同。The second measurement data used to generate the detection result of the accuracy of the vehicle-mounted sensor, the second measurement data used to generate the detection result of the stability of the vehicle-mounted sensor, and the second measurement data used to generate the detection result of the influence amount of the vehicle-mounted sensor are different from each other.

具体的，若所述第一偏离值小于第二安全阈值，则生成所述车载传感器的精确度或者稳定性或者影响量满足车辆的安全性要求的检测结果；Specifically, if the first deviation value is less than a second safety threshold, a detection result is generated indicating that the accuracy or stability or the influence amount of the vehicle-mounted sensor meets the safety requirements of the vehicle;

若所述第一偏离值大于或者等于第二安全阈值，则生成所述车载传感器的精确度或者稳定性或者影响量满足车辆的安全性要求的检测结果。If the first deviation value is greater than or equal to the second safety threshold, a detection result is generated indicating that the accuracy or stability or influence of the onboard sensor meets the safety requirement of the vehicle.

需要说明的是，因将标准传感器的第二测量数据作为标准值，则第一偏离值则反映出车载传感器感知的第一测量数据与真实测量数据的偏差，反映车载传感器感知数据的可靠程度。车载传感器的精确度反映车载传感器由于如自身老化或损坏导致的测量数据可靠性的下降程度。车载传感器的精确度下降可能会影响车载传感器的感知的目标物的数量、目标物类别、目标物形状、目标物坐标等多种测量数据发生变化或偏离，实际应用中可根据需要选择不同的测量数据进行影响量检测，不以此为限。It should be noted that since the second measurement data of the standard sensor is used as the standard value, the first deviation value reflects the deviation between the first measurement data perceived by the vehicle-mounted sensor and the actual measurement data, and reflects the reliability of the data perceived by the vehicle-mounted sensor. The accuracy of the vehicle-mounted sensor reflects the degree of decrease in the reliability of the measurement data caused by the vehicle-mounted sensor itself, such as aging or damage. The decrease in the accuracy of the vehicle-mounted sensor may affect the changes or deviations in various measurement data such as the number of targets perceived by the vehicle-mounted sensor, the type of target, the shape of the target, the coordinates of the target, etc. In actual applications, different measurement data can be selected for impact detection as needed, but this is not limited to this.

需要说明的是，对于稳定性。由于车辆震动、人为碰撞或者车载传感器安装不稳，极易导致车载传感器的测量位置发生变动，传感器测量位置的变动会影响测量数据的变化。稳定性反映的是车载传感器的测量数据由于车载传感器自身测量位置的改变(如安装位置偏移、被遮挡等)引起的测量值的变化程度。如车载传感器位置的改变会引起传感器感知目标物的角度、位置坐标或者光线发生改变，使得传感器感知的目标物的数量、目标物类别、目标物形状、目标物坐标等多种测量数据发生变化或偏离。实际应用中可根据需要选择不同的测量数据进行稳定性检测，不以此为限。It should be noted that regarding stability. Due to vehicle vibration, human collision or unstable installation of on-board sensors, the measurement position of the on-board sensors can easily change. The change of the sensor's measurement position will affect the change of the measurement data. Stability reflects the degree of change in the measurement value of the on-board sensor due to the change of the measurement position of the on-board sensor itself (such as installation position offset, being blocked, etc.). For example, the change of the position of the on-board sensor will cause the sensor to perceive the angle, position coordinates or light of the target object, causing the sensor to perceive the number of targets, target categories, target shapes, target coordinates and other measurement data to change or deviate. In actual applications, different measurement data can be selected for stability detection as needed, but this is not limited to this.

作为一种实现方式，可以通过目标物的位置坐标测量数据，检测车载传感器的稳定性性能。可以理解，当车辆因为人为碰撞导致车辆摄像头传感器位置发生向上或向下的变动，由于车辆在出厂时，对摄像头传感器进行过校对，摄像头传感器默认以过镜头中心点，垂直于摄像头镜面的直线为X轴，以过镜头中心点，与X轴成+90°(左正右负)的直线为Y轴，以过中心点且垂直于XY平面的直线为Z轴，建立第一坐标系，由于人为碰撞导致摄像头位置向上或向下的变动，以摄像头镜面中心点形成的坐标系也将发生改变，此时对目标物的位置坐标，将与未变动之前的测量坐标或标准传感器测量的位置坐标不同，因此可以依据位置坐标的偏离值的大小与安全阈值进行比较，获得传感器稳定性的检测结果。As an implementation method, the stability performance of the vehicle-mounted sensor can be detected by measuring the position coordinates of the target object. It can be understood that when the position of the vehicle camera sensor changes upward or downward due to human collision, since the camera sensor has been calibrated when the vehicle leaves the factory, the camera sensor defaults to the straight line passing through the center point of the lens and perpendicular to the camera mirror as the X-axis, the straight line passing through the center point of the lens and at +90° (positive on the left and negative on the right) to the X-axis as the Y-axis, and the straight line passing through the center point and perpendicular to the XY plane as the Z-axis. The first coordinate system is established. Due to the upward or downward change of the camera position caused by human collision, the coordinate system formed by the center point of the camera mirror will also change. At this time, the position coordinates of the target object will be different from the measured coordinates before the change or the position coordinates measured by the standard sensor. Therefore, the deviation value of the position coordinates can be compared with the safety threshold to obtain the detection result of the sensor stability.

需要说明的是，对于影响量。所述影响量反映所述车载传感器的测量数据受外界测量环境的影响程度。外界测量环境包括但不限于：天气、冷热、光照强度、路面平整度、空气湿度、磁场强度等。如外界测量环境的变化可能会影响车载传感器的感知的目标物的数量、目标物类别、目标物形状、目标物坐标等多种测量数据发生变化或偏移，实际应用中可根据需要选择不同的测量数据进行影响量检测，不以此为限。可以理解，传感器自身测量位置的变化和外界测量环境的变化均会影响到车载传感器测量数据的可靠性。It should be noted that for the influence quantity. The influence quantity reflects the degree to which the measurement data of the vehicle-mounted sensor is affected by the external measurement environment. The external measurement environment includes but is not limited to: weather, heat and cold, light intensity, road surface flatness, air humidity, magnetic field strength, etc. For example, changes in the external measurement environment may affect the number of targets, target categories, target shapes, target coordinates and other measurement data perceived by the vehicle-mounted sensor, causing changes or offsets. In actual applications, different measurement data can be selected as needed for influence quantity detection, but this is not limited to this. It can be understood that changes in the sensor's own measurement position and changes in the external measurement environment will affect the reliability of the vehicle-mounted sensor's measurement data.

应当指出，具体应用中可以选择不同的测量数据对精密度、精确度、稳定性和影响量进行性能检测，对于用于检测各性能的测量数据的种类不做限制，可以根据实际需要进行选择。It should be pointed out that in specific applications, different measurement data can be selected to perform performance tests on precision, accuracy, stability and influence quantity. There is no restriction on the type of measurement data used to test each performance, and it can be selected according to actual needs.

3、车载传感器的感知范围3. Sensing range of vehicle sensors

具体的，在所述车载传感器的性能包括所述车载传感器的感知范围时，步骤131包括：Specifically, when the performance of the vehicle-mounted sensor includes the sensing range of the vehicle-mounted sensor, step 131 includes:

需要说明的是，感知范围反映所述车载传感器能够感知到最远目标物的距离，类似于测车载传感器的视力。例如，标准传感器感知到距离车辆200米的位置有一目标物，但车载传感器未感知到，但是车载传感器在出厂时的感知范围大于或者等于200米，则此时说明标准传感器的感知范围这一性能下降，但可能不影响安全。进一步的，标准感知距离为预先设定的满足安全要求的感知距离，即若车载传感器的感知距离下降到标准感知距离以下时则不满足车辆的安全性要求。It should be noted that the perception range reflects the distance at which the vehicle-mounted sensor can perceive the farthest target object, which is similar to measuring the vision of the vehicle-mounted sensor. For example, the standard sensor perceives a target object 200 meters away from the vehicle, but the vehicle-mounted sensor does not perceive it. However, the perception range of the vehicle-mounted sensor when it leaves the factory is greater than or equal to 200 meters. This indicates that the performance of the perception range of the standard sensor has decreased, but it may not affect safety. Furthermore, the standard perception distance is a pre-set perception distance that meets safety requirements, that is, if the perception distance of the vehicle-mounted sensor drops below the standard perception distance, it does not meet the safety requirements of the vehicle.

进一步地，为了保证检测的准确性，应同时保证标准传感器的性能符合安全要求。其中，标准传感器性能的检测方式可以人工定期检查和自动检测两种方式相结合。通过对使用过程中的标准传感器进行自动检测，实现获得标准传感器性能的检测结果，以根据检测结果及时监控标准传感器的性能，并进行维护，保证标准传感器的性能符合安全要求。Furthermore, in order to ensure the accuracy of the detection, the performance of the standard sensor should also be ensured to meet the safety requirements. Among them, the detection method of the standard sensor performance can be a combination of manual regular inspection and automatic detection. By automatically detecting the standard sensor in use, the detection results of the standard sensor performance can be obtained, so that the performance of the standard sensor can be monitored in time according to the detection results, and maintenance can be performed to ensure that the performance of the standard sensor meets the safety requirements.

具体的，获得标准传感器性能的检测结果可以包括：Specifically, obtaining the test results of the standard sensor performance may include:

该实施例中，预设静态目标物包括：搭建标准传感器时设置的至少一个用于检测标准传感器性能的恒定目标物，如恒定静止的检测牌等。第一数据指使用过程中的标准传感器针对预设静态目标物的测量数据。标准测量数据指在标准传感器出厂状态或者确认良好状态时感知预设静态目标物的测量数据，标准测量数据作为基准值，用于检测使用过程中的标准传感器的性能。In this embodiment, the preset static target includes: at least one constant target set when building the standard sensor for detecting the performance of the standard sensor, such as a constant and stationary detection sign, etc. The first data refers to the measurement data of the standard sensor for the preset static target during use. The standard measurement data refers to the measurement data of the preset static target sensed when the standard sensor is in the factory state or confirmed to be in a good state. The standard measurement data is used as a reference value to detect the performance of the standard sensor during use.

其中，所述标准传感器的性能，包括以下至少一项：The performance of the standard sensor includes at least one of the following:

所述标准传感器的精密度，所述精密度反映所述标准传感器的测量数据的分散程度；The precision of the standard sensor, wherein the precision reflects the dispersion of the measurement data of the standard sensor;

所述标准传感器的精确度，所述精确度反映所述标准传感器的测量数据与真实值数据的偏离程度；The accuracy of the standard sensor, wherein the accuracy reflects the degree of deviation between the measurement data of the standard sensor and the true value data;

所述标准传感器的稳定性，所述稳定性反映所述标准传感器的测量数据由于所述车载传感器自身位置的改变引起的变化程度；The stability of the standard sensor, wherein the stability reflects the degree of change of the measurement data of the standard sensor due to the change of the position of the vehicle-mounted sensor itself;

所述标准传感器的影响量，所述影响量反映所述标准传感器的测量数据由于外界测量环境的改变引起的变化程度；The influence amount of the standard sensor, the influence amount reflects the degree of change of the measurement data of the standard sensor due to the change of the external measurement environment;

所述标准传感器的感知范围，所述感知范围反映所述标准传感器的测量距离。The sensing range of the standard sensor reflects the measurement distance of the standard sensor.

下面分别对获得标准传感器的性能检测结果进行介绍。The performance test results of the standard sensors are introduced below.

1、标准传感器的精密度1. Precision of standard sensors

作为一种实现方式，在所述标准传感器的性能包括所述标准传感器的精密度时，所述根据所述第一数据和所述标准测量数据，获得所述标准传感器性能的检测结果包括：As an implementation manner, when the performance of the standard sensor includes the precision of the standard sensor, obtaining the detection result of the performance of the standard sensor according to the first data and the standard measurement data includes:

根据所述标准测量数据，获得所述标准传感器在第二时间长度内针对所述预设静态目标物的连续多次感知的所述第一数据的第二分散值；Obtaining, according to the standard measurement data, a second scattered value of the first data sensed multiple times continuously by the standard sensor for the preset static target within a second time length;

若所述第二分散值满足第三安全条件，则生成所述标准传感器的精密度满足车辆的安全性要求的检测结果；If the second scattered value satisfies a third safety condition, generating a detection result indicating that the precision of the standard sensor meets the safety requirement of the vehicle;

若所述第二分散值不满足所述第三安全条件，则生成所述标准传感器的精密度不满足车辆的安全性要求的检测结果；If the second scattered value does not satisfy the third safety condition, generating a detection result that the precision of the standard sensor does not meet the safety requirement of the vehicle;

具体的，若所述第二分散值小于第三安全阈值，则生成所述标准传感器的精密度满足车辆的安全性要求的检测结果；Specifically, if the second dispersion value is less than a third safety threshold, a detection result is generated indicating that the precision of the standard sensor meets the safety requirement of the vehicle;

若所述第二分散值大于或者等于所述第三安全阈值，则生成所述标准传感器的精密度不满足车辆的安全性要求的检测结果。If the second dispersion value is greater than or equal to the third safety threshold, a detection result is generated indicating that the precision of the standard sensor does not meet the safety requirement of the vehicle.

需要说明的是，第二分散值反映多次测量的第一数据离标准测量数据的离散程度。分散值计算方法可以为通过取正数，计算出多次感知的第一数据与标准测量数据相同的次数占总测量次数的比率，将此比率作为第二分散值；或者将标准测量数据作为基准值，计算标准传感器多次的第一数据的方差，以方差作为第二分散值，反映标准传感器的测量数据离真实数据的离散程度和波动性。It should be noted that the second dispersion value reflects the degree of dispersion of the first data measured multiple times from the standard measurement data. The dispersion value calculation method can be to calculate the ratio of the number of times the first data sensed multiple times is the same as the standard measurement data to the total number of measurements by taking a positive number, and use this ratio as the second dispersion value; or use the standard measurement data as a reference value, calculate the variance of the first data of the standard sensor multiple times, and use the variance as the second dispersion value to reflect the degree of dispersion and volatility of the measurement data of the standard sensor from the real data.

2、标准传感器的精确度、稳定性和影响量2. Accuracy, stability and influence of standard sensors

作为一种实现方式，在所述标准传感器的性能包括所述标准传感器的精确度或者稳定性或者影响量时，所述根据所述第一数据和所述标准测量数据，获得所述标准传感器性能的检测结果包括：As an implementation manner, when the performance of the standard sensor includes the accuracy or stability or influence amount of the standard sensor, obtaining the detection result of the performance of the standard sensor according to the first data and the standard measurement data includes:

获取所述第一数据相对所述标准测量数据的第二偏离值；Acquire a second deviation value of the first data relative to the standard measurement data;

若所述第二偏离值满足第四安全条件，则生成所述标准传感器的精确度或者稳定性或者影响量满足车辆的安全性要求的检测结果；If the second deviation value satisfies a fourth safety condition, generating a detection result that the accuracy or stability or the influence amount of the standard sensor satisfies the safety requirement of the vehicle;

若所述第二偏离值不满足第四安全条件，则生成所述标准传感器的精确度或者稳定性或者影响量满足车辆的安全性要求的检测结果；If the second deviation value does not satisfy a fourth safety condition, generating a detection result that the accuracy or stability or the influence amount of the standard sensor satisfies the safety requirement of the vehicle;

其中，用于生成所述标准传感器的精确度的检测结果的第一数据、用于生成所述标准传感器的稳定性的检测结果的第一数据和用于生成所述标准传感器的影响量的检测结果的第一数据之间各不相同；The first data used to generate the detection result of the accuracy of the standard sensor, the first data used to generate the detection result of the stability of the standard sensor, and the first data used to generate the detection result of the influence amount of the standard sensor are different from each other;

用于生成所述标准传感器的精确度的检测结果的所述标准测量数据、用于生成所述标准传感器的稳定性的检测结果的所述标准测量数据和用于生成所述标准传感器的影响量的检测结果的所述标准测量数据之间各不相同。The standard measurement data used to generate a detection result of the accuracy of the standard sensor, the standard measurement data used to generate a detection result of the stability of the standard sensor, and the standard measurement data used to generate a detection result of the influence amount of the standard sensor are different from each other.

具体的，若所述第二偏离值小于第四安全阈值，则生成所述标准传感器的精确度或者稳定性或者影响量满足车辆的安全性要求的检测结果；Specifically, if the second deviation value is less than a fourth safety threshold, a detection result is generated indicating that the accuracy or stability or the influence amount of the standard sensor meets the safety requirement of the vehicle;

若所述第二偏离值大于或者等于第四安全阈值，则生成所述标准传感器的精确度或者稳定性或者影响量满足车辆的安全性要求的检测结果。If the second deviation value is greater than or equal to a fourth safety threshold, a detection result is generated indicating that the accuracy or stability or the influencing variable of the standard sensor meets the safety requirement of the vehicle.

需要说明的是，第二偏离值则反映出标准传感器感知预设静态目标物的第一数据与真实测量数据(标准测量数据)的偏离程度，反映标准传感器感知数据的数据可靠性。It should be noted that the second deviation value reflects the degree of deviation between the first data of the preset static target perceived by the standard sensor and the actual measurement data (standard measurement data), and reflects the data reliability of the data perceived by the standard sensor.

需要说明的是，稳定性反映的是在外界测量环境不变的情况下，标准传感器的测量数据由于自身测量位置的改变引起的测量值的变化程度。通过判断标准传感器的测量位置变化所引起的测量值的变动是否在安全范围内，来检测传感器的稳定性。It should be noted that stability reflects the degree of change in the measured value of the standard sensor due to the change in its own measurement position when the external measurement environment remains unchanged. The stability of the sensor is tested by judging whether the change in the measured value caused by the change in the measurement position of the standard sensor is within the safe range.

需要说明的是，所述影响量反映所述标准传感器的测量数据受外界测量环境的影响程度，可以理解为抗外界环境干扰的能力。外界测量环境包括但不限于：天气冷热、阳光强度、路面平整度等。It should be noted that the influence quantity reflects the degree to which the measurement data of the standard sensor is affected by the external measurement environment, which can be understood as the ability to resist interference from the external environment. The external measurement environment includes but is not limited to: weather temperature, sunlight intensity, road surface flatness, etc.

应当指出，对应于标准传感器维护一校准检测表，表中预设有不同外界测量环境对应的不同测量误差范围，用于判断标准传感器的影响量性能是否符合车辆的安全需求。It should be pointed out that a calibration test table is maintained corresponding to the standard sensor, in which different measurement error ranges corresponding to different external measurement environments are preset to determine whether the impact quantity performance of the standard sensor meets the safety requirements of the vehicle.

3、标准传感器的感知范围3. Sensing range of standard sensors

作为一种实现方式，在所述标准传感器的性能包括所述标准传感器的感知范围时，所述根据所述第一数据和所述标准测量数据，获得所述标准传感器性能的检测结果包括：As an implementation manner, when the performance of the standard sensor includes a sensing range of the standard sensor, obtaining a detection result of the performance of the standard sensor according to the first data and the standard measurement data includes:

若所述第二测量数据中不包括所述第一数据，则生成所述标准传感器的感知范围不满足车辆的安全性要求的检测结果；If the second measurement data does not include the first data, generating a detection result that the sensing range of the standard sensor does not meet the safety requirements of the vehicle;

若所述第二测量数据中包括所述第一数据，则生成所述标准传感器的感知范围满足车辆的安全性要求的检测结果。If the second measurement data includes the first data, a detection result is generated indicating that the sensing range of the standard sensor meets the safety requirement of the vehicle.

需要说明的是，在标准传感器感知不到预设静态目标物时，说明标准传感器的感知范围性能下降。优选的，预设静态目标物与标准传感器的距离可以为恰好能够使标准传感器满足安全要求的标准感知距离。It should be noted that when the standard sensor cannot sense the preset static target, it indicates that the sensing range performance of the standard sensor is reduced. Preferably, the distance between the preset static target and the standard sensor can be a standard sensing distance that can just enable the standard sensor to meet safety requirements.

如图3所示，其示出的是传感器从生产阶段到使用阶段的检测流程。As shown in FIG. 3 , it shows the detection process of the sensor from the production stage to the use stage.

图3中，在传感器的使用阶段，车载传感器通过与道路标准传感器进行标准感知数据交互。实现通过标准传感器的第二测量数据对车载传感器的测量数据进行核对，获得检测结果，并统计记录核校对结果(检测结果)，根据校对结果判断传感器性能是否满足车辆安全要求，并根据核校对结果采取相应的措施。In Figure 3, during the use phase of the sensor, the vehicle-mounted sensor interacts with the standard road sensor for standard perception data. The second measurement data of the standard sensor is used to check the measurement data of the vehicle-mounted sensor, obtain the test result, and statistically record the verification result (test result). According to the verification result, it is judged whether the sensor performance meets the vehicle safety requirements, and corresponding measures are taken according to the verification result.

具体的，在传感器使用过程中，通过在部分道路上搭建性能满足车辆安全要求的标准传感器设备系统，对车辆行驶环境的目标物进行感知，得到标准感知数据(第二测量数据)，同时车辆自身也会对车辆环境的目标物进行感知，得到自身感知数据(第一感知数据)，将标准感知数据和自身感知数据通过V2X技术发送至车辆本身、道路标准传感器设备系统或第三方统计中心，将标准感知数据与自身传感器感知数据进行校对(对车载传感器性能进行检测)，根据校对结果判断传感器性能是否满足车辆安全要求，并根据核对结果采取相应的措施。其中，车载传感器性能检测的实施主体可包括车辆自身、标准传感器设备系统或第三方数据统计中心，不以此为限。在实施主体为车辆时，标准传感器通过向车辆发送标准感知数据(第二测量数据)，使车辆根据第二测量数据检测自身的车载传感器性能是否下降或者性能是否满足安全性能要求。Specifically, during the use of the sensor, by building a standard sensor equipment system whose performance meets the vehicle safety requirements on some roads, the target objects in the vehicle driving environment are sensed to obtain standard perception data (second measurement data). At the same time, the vehicle itself will also sense the target objects in the vehicle environment to obtain its own perception data (first perception data). The standard perception data and its own perception data are sent to the vehicle itself, the road standard sensor equipment system or a third-party statistical center through V2X technology, and the standard perception data and its own sensor perception data are collated (the performance of the on-board sensor is tested). According to the collation results, it is determined whether the sensor performance meets the vehicle safety requirements, and corresponding measures are taken according to the verification results. Among them, the implementation subject of the on-board sensor performance test may include the vehicle itself, the standard sensor equipment system or the third-party data statistical center, but is not limited to this. When the implementation subject is a vehicle, the standard sensor sends the standard perception data (second measurement data) to the vehicle, so that the vehicle detects whether the performance of its own on-board sensor has decreased or whether the performance meets the safety performance requirements according to the second measurement data.

需要指出，V2X技术包括DSRC(Dedicated Short Range Communications,专用短程通信)、LTE(Long Term Evolution，长期演进)-V2X(Vehicle to X，车辆与外界通信)、NR(New Radio，新空口)-V2X等不同通信技术，并不限制空中接口或直通链路等通信方式。本发明适用于V2X相关技术及其他技术，目的是将标准感知数据告知车辆，如通过固定道路标识牌告知前方感知数据等形式。It should be pointed out that V2X technology includes different communication technologies such as DSRC (Dedicated Short Range Communications), LTE (Long Term Evolution)-V2X (Vehicle to X), NR (New Radio)-V2X, and does not limit communication methods such as air interface or direct link. The present invention is applicable to V2X-related technologies and other technologies, and its purpose is to inform the vehicle of standard perception data, such as notifying the perception data ahead through fixed road signs.

应当指出，本发明实施例中的标准传感器不仅适用于在道路上部署，也适用于在其他环境下完成对传感器的校对，如配置标准传感器系统的道路上的车辆等。It should be noted that the standard sensor in the embodiment of the present invention is not only suitable for deployment on roads, but also suitable for completing sensor calibration in other environments, such as vehicles on roads equipped with standard sensor systems.

作为一种实现方式，下面通过图4至图6对车载传感器的性能检测进行示例性介绍。As an implementation method, the performance detection of the vehicle-mounted sensor is exemplarily introduced below through Figures 4 to 6.

示例1：Example 1:

如图4和图5，车辆A行进到搭建标准传感器系统的道路上，标准传感器通过感知探测前方目标物D和目标物E的标准感知数据(第二测量数据)包括：目标物E的感知距离200米、目标物E的感知图像、目标物E和目标物D的感知分类类别为车辆。通过RSU(Road SideUnit，路侧单元)将标准感知数据(第二测量数据)及标准传感器自身位置信息发送至车辆A和车辆B，车辆A收到RSU发送的标准感知数据后，车辆A通过自身传感器进行感知，得到的感知数据(第一测量数据)包括：目标物E的感知距离为250米、未获取到目标物E的感知图像、目标物E和目标物D的感知分类为正方体，通过与标准感知数据进行校对，根据预先设定的安全阈值，得车辆A的传感器的感知距离和感知分类相对标准传感器测量的标准感知数据的偏离值均超过安全阈值，得到车辆A的传感器的精确度性能不满足车辆的安全要求的检测结果；因车辆A的传感器未感知到目标物E的感知图像，若目标物E在预先设定的满足安全要求的标准感知距离以内，但车辆A的传感器未感知到，则可得到车辆A的传感器的感知范围性能不满足车辆的安全要求的检测结果。As shown in Figures 4 and 5, vehicle A travels on a road where a standard sensor system is installed. The standard sensor detects the standard perception data (second measurement data) of the target objects D and E in front through perception, including: the perception distance of the target object E is 200 meters, the perception image of the target object E, and the perception classification categories of the target objects E and D are vehicles. The standard perception data (second measurement data) and the standard sensor's own position information are sent to vehicle A and vehicle B through RSU (Road Side Unit). After vehicle A receives the standard perception data sent by RSU, it perceives through its own sensor, and the perception data (first measurement data) obtained includes: the perception distance of target E is 250 meters, the perception image of target E is not obtained, and the perception classification of target E and target D is a cube. By calibrating with the standard perception data, according to a pre-set safety threshold, the deviation values of the perception distance and perception classification of the sensor of vehicle A relative to the standard perception data measured by the standard sensor exceed the safety threshold, and a detection result is obtained that the accuracy performance of the sensor of vehicle A does not meet the safety requirements of the vehicle; because the sensor of vehicle A does not perceive the perception image of target E, if target E is within the pre-set standard perception distance that meets the safety requirements, but the sensor of vehicle A does not perceive it, a detection result can be obtained that the perception range performance of the sensor of vehicle A does not meet the safety requirements of the vehicle.

进一步，根据精确度性能和感知范围性能两项的检测结果，得出车辆A的传感器性能不满足车辆的安全性要求的检测结果，通过发送第三信息至车辆，以使车辆触发传感器故障，提醒车主到维修点进行维护。Furthermore, based on the test results of the accuracy performance and the perception range performance, it is concluded that the sensor performance of vehicle A does not meet the safety requirements of the vehicle. By sending a third message to the vehicle, the vehicle triggers a sensor failure, reminding the owner to go to a repair point for maintenance.

示例2：Example 2:

如图4和图6，车辆A行进到搭建标准传感器系统的道路上，标准传感器以1秒的频率感知探测前方目标物E的距离，并统计感知距离的分散程度(分散值)为0.01，安全要求的分散程度为0.2。通过RSU将感知数据及标准传感器自身的位置信息发送至车辆A和车辆B，车辆A和车辆B收到RSU发送的标准感知数据后，车辆A和车辆B也以1秒的频率对目标物E的距离进行感知，车辆A得到目标物E感知距离的分散程度为0.02，车辆B得到目标物E感知距离的分散程度为0.1，与安全要求的分散程度进行校对，检测得到车辆B的传感器的精密度性能满足安全性能要求，不采取处理措施。其中，作为一种实现方式，可将标准传感器的分散程度作为标准参照，得到传感器性能下降的检测结果。As shown in Figures 4 and 6, vehicle A travels on the road where the standard sensor system is set up. The standard sensor senses the distance of the target E in front at a frequency of 1 second, and the dispersion of the sensed distance (dispersion value) is statistically 0.01, and the dispersion of the safety requirement is 0.2. The sensing data and the location information of the standard sensor itself are sent to vehicle A and vehicle B through RSU. After vehicle A and vehicle B receive the standard sensing data sent by RSU, vehicle A and vehicle B also sense the distance of target E at a frequency of 1 second. Vehicle A obtains a dispersion of 0.02 for the sensed distance of target E, and vehicle B obtains a dispersion of 0.1 for the sensed distance of target E. After checking with the dispersion of the safety requirement, it is detected that the precision performance of the sensor of vehicle B meets the safety performance requirements, and no treatment measures are taken. Among them, as an implementation method, the dispersion of the standard sensor can be used as a standard reference to obtain the detection result of sensor performance degradation.

通过以上实施例，实现了在传感器使用过程中及时对传感器的性能进行检测，保证传感器满足车辆的安全要求，避免因车辆驾驶员主观判断错误引起的安全风险，保证了行车安全性。Through the above embodiments, the performance of the sensor can be detected in time during the use of the sensor, ensuring that the sensor meets the safety requirements of the vehicle, avoiding safety risks caused by subjective judgment errors of the vehicle driver, and ensuring driving safety.

如图7所示，本发明的实施例提供了一种传感器性能检测装置，所述装置包括：As shown in FIG7 , an embodiment of the present invention provides a sensor performance detection device, the device comprising:

第一获取模块701，用于获取第一测量数据，所述第一测量数据是车载传感器对车辆行驶环境中的目标物进行感知得到的数据；A first acquisition module 701 is used to acquire first measurement data, where the first measurement data is data obtained by the vehicle-mounted sensor sensing a target object in the vehicle driving environment;

第二获取模块702，用于获取第二测量数据，所述第二测量数据是标准传感器对车辆行驶环境中的目标物进行感知得到的数据；A second acquisition module 702 is used to acquire second measurement data, where the second measurement data is data obtained by a standard sensor sensing a target object in a vehicle driving environment;

第一检测模块703，用于根据所述第一测量数据和所述第二测量数据，检测所述车载传感器的性能是否满足车辆的安全性要求。The first detection module 703 is used to detect whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle according to the first measurement data and the second measurement data.

可选的，第一检测模块703包括：Optionally, the first detection module 703 includes:

第一检测子模块，用于根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果；A first detection submodule, configured to obtain a detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data;

第二检测子模块，用于根据所述检测结果，检测所述车载传感器的性能是否满足车辆的安全性要求。The second detection submodule is used to detect whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle according to the detection result.

可选的，所述车载传感器的性能，包括以下至少一项：Optionally, the performance of the vehicle-mounted sensor includes at least one of the following:

可选的，在所述车载传感器的性能包括所述车载传感器的精密度时，第一检测子模块，具体用于：Optionally, when the performance of the vehicle-mounted sensor includes the precision of the vehicle-mounted sensor, the first detection submodule is specifically configured to:

可选的，在所述车载传感器的性能包括所述车载传感器的精确度或者稳定性或者影响量时，第一检测子模块，具体用于：Optionally, when the performance of the vehicle-mounted sensor includes the accuracy or stability or influence of the vehicle-mounted sensor, the first detection submodule is specifically configured to:

若所述第一偏离值不满足第二安全条件，则生成所述车载传感器的精确度或者稳定性或者影响量满足车辆的安全性要求的检测结果；If the first deviation value does not meet the second safety condition, generating a detection result that the accuracy or stability or the influence amount of the vehicle-mounted sensor meets the safety requirement of the vehicle;

可选的，在所述车载传感器的性能包括所述车载传感器的感知范围时，第一检测子模块，具体用于：Optionally, when the performance of the vehicle-mounted sensor includes a sensing range of the vehicle-mounted sensor, the first detection submodule is specifically configured to:

可选的，第二检测子模块，具体用于：Optionally, the second detection submodule is specifically used for:

可选的，装置还包括发送模块，所述发送模块在判断所述车载传感器的性能不满足车辆的安全性要求之后，具体用于：Optionally, the device further includes a sending module, which is specifically used to:

可选的，装置还包括处理模块，所述处理模块在根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果之后，具体用于：Optionally, the device further includes a processing module, and after obtaining the detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data, the processing module is specifically used to:

可选的，所述标准传感器设置在车辆行驶道路上。Optionally, the standard sensor is arranged on the road on which the vehicle travels.

可选的，所述装置还包括第二检测模块，包括：Optionally, the device further includes a second detection module, including:

第一获取子模块，用于所述第二测量数据中针对预设静态目标物感知的第一数据；A first acquisition submodule, used for first data sensed for a preset static target object in the second measurement data;

第二获取子模块，用于获取所述标准传感器在确认良好状态时感知所述预设静态目标物的标准测量数据；A second acquisition submodule is used to acquire standard measurement data of the preset static target object sensed by the standard sensor when confirming a good state;

第三检测子模块，用于根据所述第一数据和所述标准测量数据，获得所述标准传感器性能的检测结果。The third detection submodule is used to obtain a detection result of the standard sensor performance according to the first data and the standard measurement data.

可选的，所述标准传感器的性能，包括以下至少一项：Optionally, the performance of the standard sensor includes at least one of the following:

可选的，在所述标准传感器的性能包括所述标准传感器的精密度时，第三检测子模块具体用于：Optionally, when the performance of the standard sensor includes the precision of the standard sensor, the third detection submodule is specifically used for:

若所述第二分散值不满足所述第三安全条件，则生成所述标准传感器的精密度不满足车辆的安全性要求的检测结果。If the second scattered value does not satisfy the third safety condition, a detection result is generated indicating that the precision of the standard sensor does not meet the safety requirement of the vehicle.

可选的，在所述标准传感器的性能包括所述标准传感器的精确度或者稳定性或者影响量时，第三检测子模块具体用于：Optionally, when the performance of the standard sensor includes the accuracy or stability or influence of the standard sensor, the third detection submodule is specifically used to:

可选的，在所述标准传感器的性能包括所述标准传感器的感知范围时，第三检测子模块具体用于：Optionally, when the performance of the standard sensor includes a sensing range of the standard sensor, the third detection submodule is specifically configured to:

本发明实施例还提供了一种终端，包括：存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述计算机程序被所述处理器执行时实现上述的传感器性能检测方法的实施例中的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。An embodiment of the present invention further provides a terminal, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the various processes in the embodiment of the above-mentioned sensor performance detection method are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

如图8所示，其示出的是本实施例提供的一种终端的硬件结构示意图。As shown in FIG8 , it is a schematic diagram of the hardware structure of a terminal provided in this embodiment.

该终端包括但不限于：处理器800；以及通过总线接口840与所述处理器800相连接的存储器820，所述存储器820用于存储所述处理器800在执行操作时所使用的程序和数据，当处理器800调用并执行所述存储器820中所存储的程序和数据时，执行下列过程。其中，收发机810与总线接口840连接，用于在处理器800的控制下接收和发送数据。The terminal includes but is not limited to: a processor 800; and a memory 820 connected to the processor 800 via a bus interface 840, the memory 820 is used to store programs and data used by the processor 800 when performing operations, and when the processor 800 calls and executes the programs and data stored in the memory 820, the following process is performed. Among them, the transceiver 810 is connected to the bus interface 840, and is used to receive and send data under the control of the processor 800.

所述处理器800用于读取存储器820中的程序，执行下列过程：The processor 800 is used to read the program in the memory 820 and execute the following process:

通过收发机810获取第一测量数据，所述第一测量数据是车载传感器对车辆行驶环境中的目标物进行感知得到的数据；Acquire first measurement data through the transceiver 810, where the first measurement data is data obtained by the vehicle-mounted sensor sensing a target object in the vehicle driving environment;

通过收发机810获取第二测量数据，所述第二测量数据是标准传感器对车辆行驶环境中的目标物进行感知得到的数据；Acquire second measurement data through the transceiver 810, where the second measurement data is data obtained by a standard sensor sensing a target object in a driving environment of the vehicle;

可选的，所述处理器800在根据所述第一测量数据和所述第二测量数据，检测所述车载传感器的性能是否满足车辆的安全性要求时，具体用于：Optionally, when the processor 800 detects whether the performance of the vehicle-mounted sensor meets the safety requirement of the vehicle according to the first measurement data and the second measurement data, it is specifically configured to:

可选的，在所述车载传感器的性能包括所述车载传感器的精密度时，所述处理器800在根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果时，具体用于：Optionally, when the performance of the vehicle-mounted sensor includes the precision of the vehicle-mounted sensor, when the processor 800 obtains the detection result of the performance of the vehicle-mounted sensor according to the first measurement data and the second measurement data, it is specifically configured to:

可选的，在所述车载传感器的性能包括所述车载传感器的精确度或者稳定性或者影响量时，所述处理器800在根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果时，具体用于：Optionally, when the performance of the vehicle-mounted sensor includes the accuracy or stability or the influence amount of the vehicle-mounted sensor, the processor 800, when obtaining the detection result of the performance of the vehicle-mounted sensor according to the first measurement data and the second measurement data, is specifically used to:

可选的，在所述车载传感器的性能包括所述车载传感器的感知范围时，所述处理器800在根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果时，具体用于：Optionally, when the performance of the vehicle-mounted sensor includes a sensing range of the vehicle-mounted sensor, the processor 800, when obtaining a detection result of the performance of the vehicle-mounted sensor according to the first measurement data and the second measurement data, is specifically configured to:

可选的，所述处理器800在根据所述检测结果，检测所述车载传感器的性能是否满足车辆的安全性要求时，具体用于：Optionally, when the processor 800 detects whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle according to the detection result, it is specifically configured to:

可选的，所述处理器800在判断所述车载传感器的性能不满足车辆的安全性要求之后，还具体用于：Optionally, after determining that the performance of the vehicle-mounted sensor does not meet the safety requirements of the vehicle, the processor 800 is further specifically configured to:

可选的，处理器800在根据所述第一测量数据和所述第二测量数据，获得所述车载传感器性能的检测结果之后，还具体用于：Optionally, after obtaining the detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data, the processor 800 is further specifically configured to:

可选的，处理器800在所述获取第二测量数据之后，还包括：Optionally, after acquiring the second measurement data, the processor 800 further includes:

可选的，在所述标准传感器的性能包括所述标准传感器的精密度时，处理器800在根据所述第一数据和所述标准测量数据，获得所述标准传感器性能的检测结果时，具体用于：Optionally, when the performance of the standard sensor includes the precision of the standard sensor, when the processor 800 obtains the detection result of the performance of the standard sensor according to the first data and the standard measurement data, it is specifically configured to:

若所述第二分散值满足所述第三安全条件，则生成所述标准传感器的精密度不满足车辆的安全性要求的检测结果。If the second scattered value satisfies the third safety condition, a detection result is generated indicating that the precision of the standard sensor does not meet the safety requirement of the vehicle.

可选的，在所述标准传感器的性能包括所述标准传感器的精确度或者稳定性或者影响量时，处理器800在根据所述第一数据和所述标准测量数据，获得所述标准传感器性能的检测结果时，具体用于：Optionally, when the performance of the standard sensor includes the accuracy or stability or influence of the standard sensor, the processor 800, when obtaining the detection result of the performance of the standard sensor according to the first data and the standard measurement data, is specifically configured to:

若所述第二偏离值不满足第四安全条件，则生成所述标准传感器的精确度或者稳定性或者影响量不满足车辆的安全性要求的检测结果；If the second deviation value does not satisfy a fourth safety condition, generating a detection result that the accuracy or stability or the influence amount of the standard sensor does not satisfy the safety requirement of the vehicle;

可选的，在所述标准传感器的性能包括所述标准传感器的感知范围时，处理器800在根据所述第一数据和所述标准测量数据，获得所述标准传感器性能的检测结果时，具体用于：Optionally, when the performance of the standard sensor includes a sensing range of the standard sensor, the processor 800, when obtaining a detection result of the performance of the standard sensor according to the first data and the standard measurement data, is specifically configured to:

需要说明的是，在图8中，总线架构可以包括任意数量的互联的总线和桥，具体由处理器800代表的一个或多个处理器和存储器820代表的存储器的各种电路链接在一起。总线架构还可以将诸如外围设备、稳压器和功率管理电路等之类的各种其它电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。收发机810可以是多个元件，即包括发送机和收发机，提供用于在传输介质上与各种其它装置通信的单元。针对不同的终端，用户接口830还可以是能够外接内接需要设备的接口，连接的设备包括但不限于小键盘、显示器、扬声器、麦克风、操纵杆等。处理器800负责管理总线架构和通常的处理，存储器820可以存储处理器800在执行操作时所使用的数据。It should be noted that in FIG8 , the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by the processor 800 and various circuits of the memory represented by the memory 820 are linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 810 may be a plurality of components, namely, a transmitter and a transceiver, providing a unit for communicating with various other devices on a transmission medium. For different terminals, the user interface 830 may also be an interface capable of externally connecting to the required internal devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like. The processor 800 is responsible for managing the bus architecture and general processing, and the memory 820 may store data used by the processor 800 when performing operations.

本领域技术人员可以理解，实现上述实施例的全部或者部分步骤可以通过硬件来完成，也可以通过计算机程序来指示相关的硬件来完成，所述计算机程序包括执行上述方法的部分或者全部步骤的指令；且该计算机程序可以存储于一可读存储介质中，存储介质可以是任何形式的存储介质。Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing relevant hardware through a computer program, wherein the computer program includes instructions for executing part or all of the steps of the above method; and the computer program may be stored in a readable storage medium, and the storage medium may be any form of storage medium.

此外，需要指出的是，在本发明的装置和方法中，显然，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本发明的等效方案。并且，执行上述系列处理的步骤可以自然地按照说明的顺序按时间顺序执行，但是并不需要一定按照时间顺序执行，某些步骤可以并行或彼此独立地执行。对本领域的普通技术人员而言，能够理解本发明的方法和装置的全部或者任何步骤或者部件，可以在任何计算装置(包括处理器、存储介质等)或者计算装置的网络中，以硬件、固件、软件或者它们的组合加以实现，这是本领域普通技术人员在阅读了本发明的说明的情况下运用他们的基本编程技能就能实现的。In addition, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step can be decomposed and/or recombined. These decompositions and/or recombinations should be regarded as equivalent schemes of the present invention. Moreover, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it is understood that all or any steps or components of the method and apparatus of the present invention can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices in hardware, firmware, software or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present invention.

因此，本发明的目的还可以通过在任何计算装置上运行一个程序或者一组程序来实现。所述计算装置可以是公知的通用装置。因此，本发明的目的也可以仅仅通过提供包含实现所述方法或者装置的程序代码的程序产品来实现。也就是说，这样的程序产品也构成本发明，并且存储有这样的程序产品的存储介质也构成本发明。显然，所述存储介质可以是任何公知的存储介质或者将来所开发出来的任何存储介质。还需要指出的是，在本发明的装置和方法中，显然，各部件或各步骤是可以分解和/或重新组合的。这些分解和/或重新组合应视为本发明的等效方案。并且，执行上述系列处理的步骤可以自然地按照说明的顺序按时间顺序执行，但是并不需要一定按照时间顺序执行。某些步骤可以并行或彼此独立地执行。Therefore, the purpose of the present invention can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general device. Therefore, the purpose of the present invention can also be achieved by simply providing a program product containing a program code that implements the method or device. That is to say, such a program product also constitutes the present invention, and the storage medium storing such a program product also constitutes the present invention. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future. It should also be pointed out that in the device and method of the present invention, it is obvious that each component or each step can be decomposed and/or recombined. These decompositions and/or recombinations should be regarded as equivalent schemes of the present invention. In addition, the steps of performing the above-mentioned series of processing can naturally be performed in chronological order according to the order of description, but it is not necessary to perform them in chronological order. Some steps can be performed in parallel or independently of each other.

以上所述的是本发明的优选实施方式，应当指出对于本技术领域的普通人员来说，在不脱离本发明所述的原理前提下还可以作出若干改进和润饰，这些改进和润饰也在本发明的保护范围内。The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary personnel in this technical field, several improvements and modifications can be made without departing from the principles described in the present invention. These improvements and modifications are also within the scope of protection of the present invention.

Claims

1. A sensor performance detection method, characterized by comprising:

Acquire first measurement data, where the first measurement data is data obtained by a vehicle-mounted sensor sensing a target object in a vehicle driving environment;

Acquire second measurement data, where the second measurement data is data obtained by a standard sensor sensing a target object in a vehicle driving environment;

Detecting whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle according to the first measurement data and the second measurement data;

The detecting, based on the first measurement data and the second measurement data, whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle includes:

Obtaining a detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data;

According to the detection result, detecting whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle;

When the performance of the vehicle-mounted sensor includes the precision of the vehicle-mounted sensor, and the precision reflects the dispersion degree of measurement data of the vehicle-mounted sensor, obtaining the detection result of the performance of the vehicle-mounted sensor according to the first measurement data and the second measurement data includes:

According to the second measurement data continuously sensed by the standard sensor for the first target object for multiple times within the first time length, a first dispersion value of the first measurement data continuously sensed by the vehicle-mounted sensor for the first target object for multiple times within the first time length is obtained; wherein the ratio of the number of times the first measurement data sensed multiple times is the same as the second measurement data to the total number of measurements is calculated, and the ratio is used as the first dispersion value; or the second measurement data is used as a reference value, and the variance of the first measurement data sensed multiple times by the vehicle-mounted sensor is calculated, and the variance is used as the first dispersion value;

If the first scattered value satisfies a first safety condition, generating a detection result indicating that the precision of the vehicle-mounted sensor satisfies the safety requirement of the vehicle;

If the first scattered value does not satisfy the first safety condition, a detection result is generated indicating that the precision of the vehicle-mounted sensor does not satisfy the safety requirement of the vehicle.

2. The sensor performance detection method according to claim 1, characterized in that the performance of the vehicle-mounted sensor further includes at least one of the following:

The accuracy of the vehicle-mounted sensor, wherein the accuracy reflects the degree of deviation between the measurement data of the vehicle-mounted sensor and the true value data;

The stability of the vehicle-mounted sensor, wherein the stability reflects the degree of change of the measurement data of the vehicle-mounted sensor due to the change of the position of the vehicle-mounted sensor itself;

The influence amount of the vehicle-mounted sensor, the influence amount reflects the degree of change of the measurement data of the vehicle-mounted sensor due to the change of the external measurement environment;

The sensing range of the vehicle-mounted sensor reflects the measurement distance of the vehicle-mounted sensor.

3. The sensor performance detection method according to claim 2, characterized in that when the performance of the vehicle-mounted sensor includes the accuracy or stability or influence of the vehicle-mounted sensor, the obtaining the detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data comprises:

Acquire a first deviation value of the first measurement data sensed by the vehicle-mounted sensor for a first target object relative to the second measurement data sensed by the standard sensor for the first target object;

If the first deviation value satisfies a second safety condition, generating a detection result that the accuracy or stability or the influence amount of the vehicle-mounted sensor meets the safety requirement of the vehicle;

If the first deviation value does not meet the second safety condition, generating a detection result that the accuracy or stability or the influence amount of the vehicle-mounted sensor does not meet the safety requirement of the vehicle;

wherein the first measurement data used to generate the detection result of the accuracy of the vehicle-mounted sensor, the first measurement data used to generate the detection result of the stability of the vehicle-mounted sensor, and the first measurement data used to generate the detection result of the influence amount of the vehicle-mounted sensor are different from each other;

The second measurement data used to generate a detection result of the accuracy of the vehicle-mounted sensor, the second measurement data used to generate a detection result of the stability of the vehicle-mounted sensor, and the second measurement data used to generate a detection result of the influence amount of the vehicle-mounted sensor are different from each other.

4. The sensor performance detection method according to claim 2, characterized in that when the performance of the vehicle-mounted sensor includes the sensing range of the vehicle-mounted sensor, obtaining the detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data comprises:

Acquire a standard sensing distance of the vehicle-mounted sensor, where the standard sensing distance is a sensing distance that meets safety requirements of the vehicle-mounted sensor;

If the second measurement data includes the first target object within the standard perception distance, and the first measurement data does not include the first target object within the standard perception distance, a detection result is generated indicating that the perception range of the vehicle-mounted sensor does not meet the safety requirements of the vehicle;

If both the second measurement data and the first measurement data include the first target object within the standard perception distance, a detection result is generated indicating that the perception range of the vehicle-mounted sensor meets the safety requirement of the vehicle.

5. The sensor performance detection method according to claim 2, characterized in that detecting whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle based on the detection result comprises:

When at least one of the detection results of the precision, the detection results of the accuracy, the detection results of the stability, the detection results of the influence amount and the detection results of the perception range indicate that the safety requirements of the vehicle are not met, it is determined that the performance of the on-board sensor does not meet the safety requirements of the vehicle.

6. The sensor performance detection method according to claim 5, characterized in that after determining that the performance of the vehicle-mounted sensor does not meet the safety requirements of the vehicle, at least one of the following measures is taken:

Sending a first message for reminding the vehicle owner to maintain the vehicle-mounted sensor to the terminal;

Sending second information to the vehicle, so that the vehicle triggers automatic correction of the on-board sensor according to the second information;

The third information is sent to the vehicle, so that the vehicle triggers a vehicle sensor fault according to the third information.

7. The sensor performance detection method according to claim 1, characterized in that after obtaining the detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data, it also includes:

Generate a detection report of the vehicle-mounted sensor within the preset time period based on the detection results obtained within the preset time period;

The detection report is sent to the server.

8. The sensor performance detection method according to claim 1 is characterized in that the standard sensor includes at least one of the following: radar, camera, temperature sensor and light sensor.

9. The sensor performance detection method according to claim 1 is characterized in that the standard sensor is set on the vehicle driving road.

10 . The sensor performance detection method according to claim 1 , wherein the target object comprises: a dynamic target object and/or a static target object within a sensing range.

11. The sensor performance detection method according to claim 1, wherein the first measurement data and the second measurement data respectively include at least one of the following:

The measured time, the number of the targets, the location coordinates of the targets and the categories of the targets.

12. The sensor performance detection method according to claim 1, characterized in that after obtaining the second measurement data, it also includes:

Acquire first data sensed for a preset static target object in the second measurement data;

Acquiring standard measurement data of the standard sensor sensing the preset static target object when confirming a good state;

A detection result of the standard sensor performance is obtained according to the first data and the standard measurement data.

13. A sensor performance detection device, comprising:

A first acquisition module is used to acquire first measurement data, where the first measurement data is data obtained by the vehicle-mounted sensor sensing a target object in the vehicle driving environment;

A second acquisition module is used to acquire second measurement data, where the second measurement data is data obtained by a standard sensor sensing a target object in a vehicle driving environment;

A detection module, configured to detect whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle according to the first measurement data and the second measurement data;

The first detection module includes:

A first detection submodule, configured to obtain a detection result of the vehicle-mounted sensor performance according to the first measurement data and the second measurement data;

A second detection submodule, used to detect whether the performance of the vehicle-mounted sensor meets the safety requirements of the vehicle according to the detection result;

When the performance of the vehicle-mounted sensor includes the precision of the vehicle-mounted sensor, and the precision reflects the dispersion degree of the measurement data of the vehicle-mounted sensor, the first detection submodule is specifically used to:

14. A terminal, characterized in that it comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the sensor performance detection method according to any one of claims 1 to 12 are implemented.

15. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the sensor performance detection method according to any one of claims 1 to 12 are implemented.