Information determination method, apparatus, device, and computer storage medium

Abstract

The embodiment of the application provides a kind of information determination method, device, equipment and computer storage medium, the information determination method includes obtaining the first detection time and the first parameter information of the first object detected by vehicle-mounted target detection system, and the second detection time and the second parameter information of the second object detected by truth value system;Based on the first detection time and the second detection time, the correlation coefficient of the first parameter information and the second parameter information is calculated;When the correlation coefficient of the first parameter information and the second parameter information is greater than the preset correlation coefficient threshold, the first object of the first parameter information and the second object corresponding to the second parameter information are determined as the object having corresponding relationship, the target corresponding relationship is obtained, according to the embodiment of the application, the detection data under different parameter combinations can be obtained in actual road, reduce cost, and improve the efficiency of determining the corresponding relationship between objects.

Description

Technical Field

[0001] This application belongs to the field of automotive three-dimensional target evaluation technology, and in particular relates to an information determination method, device, equipment and computer storage medium. Background Technology

[0002] Currently, in the process of automotive 3D target evaluation, both the on-board target detection system and the test ground truth system detect data parameters of many 3D targets and form data records. Each real 3D target leaves a data record in both detection systems, but we do not know which two data records correspond to this real 3D target. Finding the correspondence between the target objects detected by the on-board target detection system and the test ground truth system is the foundation for automotive 3D target evaluation.

[0003] In existing technologies, specific detection scenarios are mainly used to determine the correspondence between the target objects detected by the vehicle-mounted target detection system and the test ground truth system. For example, if another test vehicle is used as the target object at the test site, the correspondence between the target object in the two detection systems is known. Then, the parameters of the target object detected by the vehicle-mounted target detection system are evaluated using the test ground truth system. Existing methods cannot obtain detection data under different parameter combinations and are costly and inefficient. Summary of the Invention

[0004] This application provides an information determination method, apparatus, device, and computer storage medium, which can solve the problems in the prior art that it is impossible to obtain different combinations of actual working conditions, and that the cost is high and the efficiency is low.

[0005] In a first aspect, embodiments of this application provide an information determination method, the method comprising:

[0006] The system acquires first information detected by an onboard target detection system and second information detected by a truth system; wherein the first information includes a first detection time and detected first parameter information, the first parameter information including at least one of a first distance between the target vehicle and a first object and a heading angle; the second information includes a second detection time and detected second parameter information, the second parameter information including at least one of a second distance between the target vehicle and a second object and a heading angle.

[0007] Based on the first detection time and the second detection time, calculate the correlation coefficient between the first parameter information and the second parameter information;

[0008] When the correlation coefficient between the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, the first object of the first parameter information and the second object corresponding to the second parameter information are determined as objects with a corresponding relationship, and the target correspondence is obtained.

[0009] In one implementation, acquiring the first information detected by the vehicle-mounted target detection system and the second information detected by the truth system includes:

[0010] Acquire third information detected by the vehicle-mounted target detection system and fourth information detected by the truth system. The third information includes the number of times the first parameter information is detected, and the fourth information includes the number of times the second parameter information is detected.

[0011] When the number of times the first parameter information is detected is greater than a preset threshold, the third information is determined to be the first information;

[0012] When the number of times the second parameter information is detected is greater than the preset threshold, the fourth information is determined to be the second information.

[0013] In one implementation, calculating the correlation coefficient between the first parameter information and the second parameter information based on the first detection time and the second detection time includes:

[0014] Calculate the correlation coefficient between the first parameter information and the second parameter information within the same time period during the first detection time and the second detection time.

[0015] In one implementation, the first detection time and the second detection time include moments; the step of calculating the correlation coefficient between the first parameter information and the second parameter information based on the first detection time and the second detection time further includes:

[0016] Based on the time of the information with a longer detection period in the first information and the second information, the parameter information of the information with a shorter detection period at that time is calculated by interpolation, so as to obtain the first information and the second information corresponding to that time.

[0017] Based on the time, the first parameter information in the first information at that time, and the second parameter information in the second information at that time, the correlation coefficient between the first parameter information and the second parameter information is calculated.

[0018] In one implementation, the step of determining the first object of the first parameter information and the second parameter information as objects with a corresponding relationship when the correlation coefficient between the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, and obtaining the target correspondence relationship, includes:

[0019] When there are multiple first objects and / or second objects, the first object corresponding to the first parameter information and the second object corresponding to the second parameter information are determined as objects with a corresponding relationship, and a first correspondence relationship is obtained.

[0020] Delete the correspondences in the first correspondence where there are multiple first objects and / or multiple second objects to obtain the target correspondence.

[0021] In one implementation, the target correspondence includes the identifiers of the first object and the second object.

[0022] Secondly, embodiments of this application provide an information determining device, which includes:

[0023] The acquisition module is used to acquire first information detected by the vehicle-mounted target detection system and second information detected by the truth system; wherein, the first information includes a first detection time and detected first parameter information, the first parameter information including at least one of a first distance between the target vehicle and the first object and a heading angle; the second information includes a second detection time and detected second parameter information, the second parameter information including at least one of a second distance between the target vehicle and the second object and a heading angle.

[0024] The calculation module is used to calculate the correlation coefficient between the first parameter information and the second parameter information based on the first detection time and the second detection time;

[0025] The determination module is used to determine the first object of the first parameter information and the second object corresponding to the second parameter information as objects with a corresponding relationship when the correlation coefficient between the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, thereby obtaining the target correspondence relationship.

[0026] In one embodiment, the acquisition module is further configured to acquire third information detected by the vehicle-mounted target detection system and fourth information detected by the truth system, wherein the third information includes the number of times the first parameter information is detected and the fourth information includes the number of times the second parameter information is detected.

[0027] The determining module is also used to determine the third information as the first information when the number of times the first parameter information is detected is greater than a preset threshold;

[0028] The determining module is further configured to determine the fourth information as the second information when the number of times the second parameter information is detected is greater than the preset threshold.

[0029] In one embodiment, the calculation module is further configured to calculate the correlation coefficient between the first parameter information and the second parameter information within the same time period during the first detection time and the second detection time.

[0030] In one implementation, the first detection time and the second detection time include time intervals;

[0031] The calculation module is further configured to use the time of the information with a longer detection period in the first information and the second information as a reference, and calculate the parameter information of the information with a shorter detection period at the time by interpolation, so as to obtain the first information and the second information corresponding to the time.

[0032] The calculation module is also used to calculate the correlation coefficient between the first parameter information and the second parameter information based on the time, the first parameter information in the first information at the time, and the second parameter information in the second information at the time.

[0033] In one embodiment, the information determining device further includes a deletion module;

[0034] The determining module is further configured to, when there are multiple first objects and / or second objects, determine the first object corresponding to the first parameter information and the second object corresponding to the second parameter information as objects with a corresponding relationship, thereby obtaining a first correspondence relationship;

[0035] The deletion module is used to delete the first correspondence where there are multiple first objects and / or multiple second objects, to obtain the target correspondence.

[0036] In one implementation, the target correspondence includes the identifiers of the first object and the second object.

[0037] Thirdly, embodiments of this application provide an electronic device, which includes: a processor and a memory storing computer program instructions;

[0038] When the processor executes computer program instructions, it implements the information determination method as described in any embodiment of the first aspect.

[0039] Fourthly, embodiments of this application provide a computer storage medium storing computer program instructions, which, when executed by a processor, implement the information determination method as described in any embodiment of the first aspect.

[0040] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the information determination method as described in any embodiment of the first aspect.

[0041] The information determination method, apparatus, device, and computer storage medium of this application embodiment acquire first information detected by an onboard target detection system, including a first detection time and detected first parameter information, and acquire second information detected by a ground truth system, including a second detection time and detected second parameter information. The first and second parameter information include at least one of the distance between the target vehicle and the detected object and the heading angle. Thus, the first and second parameter information can be used as signals for correlation analysis to match a first object and a second object. Next, based on the first and second detection times, a correlation coefficient between the first and second parameter information is calculated. When the correlation coefficient is greater than a preset correlation coefficient threshold, the first object in the first parameter information and the second object corresponding to the second parameter information are determined as objects with a corresponding relationship, thus obtaining a target correspondence. This eliminates the need to build an actual test scenario; by utilizing the distance information of objects detected by the onboard target detection system and the ground truth system on the target vehicle, the correspondence between the first and second objects can be automatically matched. Detection data under different parameter combinations can be obtained on actual roads, reducing costs and improving the efficiency of determining the correspondence between objects. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating an information determination method provided in one embodiment of this application;

[0044] Figure 2 This is a schematic diagram of the curve change of the system detection signal provided in one embodiment of this application;

[0045] Figure 3 This is a schematic diagram illustrating the interpolation calculation of detection results provided in one embodiment of this application;

[0046] Figure 4 This is a schematic diagram of the structure of an information determining device provided in one embodiment of this application;

[0047] Figure 5This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0048] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0049] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0050] As described in the background section, in the process of evaluating three-dimensional targets in automobiles, both the onboard target detection system and the test ground truth system detect multiple target objects during the test. Finding the correspondence between these target objects is the basis for evaluating the sensors on the vehicle. Typically, special detection scenarios are used to meet this requirement, such as using another test vehicle as the target object to be detected at the test track. However, this method has the problems of not being able to obtain different combinations of actual working conditions (various combinations of parameter changes of different types of three-dimensional targets at high / low vehicle speeds), and it is also costly and inefficient.

[0051] To address the aforementioned problems, embodiments of this application provide an information determination method, apparatus, device, and computer storage medium. This information determination method can...

[0052] By acquiring first information detected by the vehicle-mounted target detection system, including a first detection time and detected first parameter information, and acquiring second information detected by the ground truth system, including a second detection time and detected second parameter information, the first and second parameter information can be used as signals for correlation analysis to match the first and second objects. Next, based on the first and second detection times, the correlation coefficient between the first and second parameter information is calculated. When the correlation coefficient is greater than a preset correlation coefficient threshold, the first object in the first parameter information and the second object corresponding to the second parameter information are identified as objects with a corresponding relationship, thus obtaining the target correspondence. This eliminates the need to build an actual test scenario; by utilizing the distance information of objects detected by the vehicle-mounted target detection system and the ground truth system, the correspondence between the first and second objects can be automatically matched. Detection data under different parameter combinations can be obtained on actual roads, reducing costs and improving the efficiency of determining the correspondence between objects. The information determination method provided in the embodiments of this application will be described below.

[0053] Figure 1 A flowchart illustrating an information determination method provided in one embodiment of this application is shown.

[0054] like Figure 1 As shown, the method for determining this information may specifically include the following steps:

[0055] S110: Obtain the first information detected by the vehicle-mounted target detection system and the second information detected by the truth system.

[0056] The first information may include a first detection time and detected first parameter information, wherein the first parameter information may include at least one of a first distance between the target vehicle and the first object and a heading angle; the second information may include a second detection time and detected second parameter information, wherein the second parameter information may include at least one of a second distance between the target vehicle and the second object and a heading angle.

[0057] The vehicle-mounted target detection system can be a system installed inside the target vehicle that can detect the distance between the target vehicle and the object to be tested. The truth system can be a test truth system on the target vehicle that detects the distance between the target vehicle and the object to be tested. The target vehicle is a test vehicle used for road testing.

[0058] The first detection time may include the detection period and time for periodically detecting the first parameter information, as well as the time period during which the first object was detected. The second detection time may include the detection period and time for periodically detecting the second parameter information, as well as the time period during which the second object was detected. The first and second objects can be any three-dimensional object being measured, such as pedestrians, vehicles, or obstacles; there can be one or more. The first distance can be the longitudinal or lateral distance between the target vehicle and the first object, and the second distance can be the longitudinal or lateral distance between the target vehicle and the second object.

[0059] As an example, the vehicle-mounted target detection system and the test ground truth system are two independent detection systems on a test vehicle used for road testing. During the detection process, the longitudinal distance between the test vehicle and the target object A detected by the vehicle-mounted target detection system, as well as the times when the longitudinal distance is periodically detected, are acquired. Similarly, the longitudinal distance between the test vehicle and the target object B detected by the test ground truth system, as well as the times when the longitudinal distance is periodically detected, are acquired. These data are used for correlation analysis between target objects A and B. In addition to lateral or longitudinal distance, heading angle, the length, width, and height of the target object can also be used as signals for correlation analysis between the target objects.

[0060] S120, based on the first detection time and the second detection time, calculate the correlation coefficient between the first parameter information and the second parameter information.

[0061] The first detection time and the second detection time can include the same moment. The correlation coefficient between the first parameter information and the second parameter information can be calculated based on the first parameter information and the second parameter information corresponding to each same moment. The correlation coefficient is a statistical indicator used to reflect the degree of correlation between variables. For example, the linear correlation coefficient between the first parameter information and the second parameter information can be calculated by product-moment.

[0062] S130, when the correlation coefficient between the first parameter information and the second parameter information is greater than the preset correlation coefficient threshold, the first object of the first parameter information and the second object corresponding to the second parameter information are determined as objects with corresponding relationships, and the target corresponding relationship is obtained.

[0063] The preset correlation coefficient threshold can be a threshold set by the user as needed, for example, it can be 0.9. If the correlation coefficient between the first parameter information and the second parameter information is greater than the preset correlation coefficient threshold, then the first object corresponding to the first parameter information and the second object corresponding to the second parameter information are objects with a corresponding relationship.

[0064] As an example, when the correlation coefficient between the test object A detected by the vehicle-mounted target detection system and the test object B detected by the test truth system is greater than 0.9, the test object A and the test object B are considered to be corresponding objects.

[0065] In this embodiment, by acquiring first information detected by the vehicle-mounted target detection system, including a first detection time and detected first parameter information, and acquiring second information detected by the ground truth system, including a second detection time and detected second parameter information, the first and second parameter information include at least one of the distance between the target vehicle and the detected object and the heading angle. Thus, the first and second parameter information can be used as signals for correlation analysis to match the first and second objects. Next, based on the first and second detection times, the correlation coefficient between the first and second parameter information is calculated. When the correlation coefficient is greater than a preset correlation coefficient threshold, the first object in the first parameter information and the second object corresponding to the second parameter information are identified as objects with a corresponding relationship, thus obtaining the target correspondence. This eliminates the need to build an actual test scenario; by utilizing the distance information of objects detected by the vehicle-mounted target detection system and the ground truth system on the target vehicle, the correspondence between the first and second objects can be automatically matched. Detection data under different parameter combinations can be obtained on actual roads, reducing costs and improving the efficiency of determining the correspondence between objects.

[0066] In some embodiments, S110 may specifically include:

[0067] The system acquires third information detected by the vehicle-mounted target detection system and fourth information detected by the truth system. The third information may include the number of times the first parameter information is detected, and the fourth information may include the number of times the second parameter information is detected.

[0068] When the number of times the first parameter information is detected exceeds a preset threshold, the third information is determined as the first information;

[0069] When the number of times the second parameter information is detected exceeds a preset threshold, the fourth information is determined as the second information.

[0070] The third information can be information periodically detected by the vehicle-mounted target detection system. This third information may include the number of times the first parameter information is detected, and the time of each detection. The fourth information can be information periodically detected by the truth-based system. This fourth information may include the number of times the second parameter information is detected, and the time of each detection. The preset threshold can be a threshold number set by the user as needed, for example, 100 times.

[0071] As an example, correlation analysis requires a sufficient sample size to ensure a more accurate reflection of the overall correlation. Data on the tested objects detected by the onboard target detection system and the test ground truth system are obtained. This data includes the longitudinal distance between the test vehicle and the tested object, as well as the times when the longitudinal distance is periodically detected, with each time point corresponding to one sample of detected longitudinal distance. Data on objects with a sample size greater than 100 are filtered out for subsequent correlation analysis. For example, if tested object A travels at a high speed, and the number of periodically detected longitudinal distances between the test vehicle and tested object A is small, less than 100, then the data for tested object A is deleted.

[0072] In this embodiment, by acquiring third information detected by the vehicle-mounted target detection system and fourth information detected by the truth value system, the third information may include the number of times the first parameter information is detected, and the fourth information may include the number of times the second parameter information is detected. Then, when the number of times the first parameter information is detected is greater than a preset threshold, the third information is determined as the first information; when the number of times the second parameter information is detected is greater than the preset threshold, the fourth information is determined as the second information. This allows for filtering of information with a higher frequency of detection of the first and second parameter information, ensuring a more accurate determination of the correspondence between objects.

[0073] In some embodiments, S120 may specifically include:

[0074] Calculate the correlation coefficient between the first parameter information and the second parameter information within the same time period during the first and second detection times.

[0075] Since the vehicle-mounted target detection system and the ground truth system may be installed in different locations and have different detection angles, the parameter information that the two systems can detect also differs, such as the effective detection distance. Therefore, the time periods of the first and second objects detected by the two systems do not completely correspond. It is necessary to obtain the first parameter information and the second parameter information of the same time period in the first detection time and the second detection time to calculate the correlation coefficient.

[0076] As an example, such as Figure 2 As shown, the signal of the distance between the test vehicle and the target object detected by the vehicle-mounted target detection system is the vehicle detection signal, and the signal of the distance between the test vehicle and the target object detected by the ground truth system is the ground truth signal. The data of the time intersection of the signals detected by the vehicle-mounted target detection system and the ground truth system are obtained for correlation analysis.

[0077] In this embodiment of the application, by calculating the correlation coefficient of the first parameter information and the second parameter information in the same time period in the first detection time and the second detection time, information in the same time period in the first information and the second information can be filtered out, which is convenient for subsequent correlation analysis between objects.

[0078] In some embodiments, the first detection time and the second detection time may include moments; S120 may further include:

[0079] Using the time of the information with the longer detection period in the first and second information as a benchmark, the parameter information of the information with the shorter detection period at that time is calculated by interpolation, and the first and second information corresponding to that time are obtained.

[0080] Based on the time, the first parameter information in the first information at that time, and the second parameter information in the second information at that time, calculate the correlation coefficient between the first parameter information and the second parameter information.

[0081] The detection cycles of the vehicle-mounted target detection system and the ground truth system can be preset, for example, 50ms. Taking the moment of the information with the longer detection cycle among the first and second information detected by the vehicle-mounted target detection system and the ground truth system as the benchmark, the parameter information of the information with the shorter detection cycle at that moment is calculated by interpolation. Based on the first parameter information of the first information at that moment and the second parameter information of the second information at that moment, the correlation coefficient between the first parameter information and the second parameter information is calculated.

[0082] As an example, such as Figure 3 As shown in the figure, the curves depicting the longitudinal distance between the test vehicle and the target object detected by the onboard target detection system and the ground truth system are different. The onboard target detection system has a shorter detection cycle, while the ground truth system has a longer detection cycle. Therefore, the detected longitudinal distance signals are not corresponding at specific times, making it impossible to directly calculate the correlation coefficient between the two signals. Using the time of the longitudinal distance detected by the ground truth system (with the longer detection cycle as the benchmark), interpolation is used to calculate the signal values ​​of the longitudinal distance detected by the onboard target detection system at these times. Figure 3 By using interpolation points in the time frame, two sets of data that correspond perfectly at different time points can be constructed, allowing for the calculation of the correlation coefficient. Based on the moment when the true system detects the longitudinal distance, the correlation coefficient of the longitudinal distance detected by the two systems at that moment is calculated.

[0083] In this embodiment, by using the time of the information with a longer detection period in the first information and the second information as a benchmark, the parameter information of the information with a shorter detection period at that time is calculated by interpolation, thus obtaining the first information and the second information corresponding to that time. Based on that time, the first parameter information in the first information at that time, and the second parameter information in the second information at that time, the correlation coefficient between the first parameter information and the second parameter information is calculated. In this way, the correlation coefficient can be calculated for the first parameter information and the second parameter information that are completely corresponding at that time, thereby improving the accuracy of determining the correspondence between objects.

[0084] In some embodiments, S130 may specifically include:

[0085] When there are multiple first objects and / or second objects, the first object corresponding to the first parameter information and the second object corresponding to the second parameter information are identified as objects with a corresponding relationship, and a first correspondence relationship is obtained.

[0086] Delete the first correspondences where there are multiple first objects and / or multiple second objects to obtain the target correspondence.

[0087] The first correspondence can be determined when there are multiple first objects and / or multiple second objects. The first correspondence can be a one-to-one match or a one-to-many match. If there are multiple first objects and / or multiple second objects in the first correspondence, then the first correspondence is a one-to-many match, and the first correspondence is deleted.

[0088] As an example, in a congested traffic situation, multiple test objects (vehicles) may be moving slowly at low speeds. The longitudinal distance between the test vehicle and test object A detected by the onboard target detection system more closely resembles the longitudinal distance between the test vehicle and test object B detected by the ground truth system. Using correlation analysis to match the test objects, situations may arise where one test object A matches multiple test objects B, or one test object B matches multiple test objects A. This situation also occurs when there are multiple stationary test objects around the test vehicle. To obtain accurate and reliable matching results, such one-to-many matching results should be removed.

[0089] In this embodiment of the application, when there are multiple first objects and / or multiple second objects, the first object corresponding to the first parameter information and the second object corresponding to the second parameter information are identified as objects with a corresponding relationship to obtain a first correspondence relationship. Then, the correspondence relationships in the first correspondence relationship where there are multiple first objects and / or multiple second objects are deleted to obtain the target correspondence relationship, which can improve the reliability of determining the correspondence relationship between objects.

[0090] In some embodiments, the target mapping may include the identifiers of the first object and the second object.

[0091] The identifier can be information such as letters, symbols, or numbers that can uniquely identify the first and second objects.

[0092] As an example, during the detection process of the vehicle-mounted target detection system and the ground truth system, each detection system assigns a unique identifier (ID) to each identical target. After matching the target to obtain the corresponding relationship, the corresponding relationship includes the target ID detected by the vehicle-mounted target detection system and the list of target IDs detected by the ground truth system.

[0093] In this embodiment of the application, the identification of the first object and the second object in the target correspondence makes it easier to identify the correspondence between the first object and the second object, which facilitates subsequent vehicle three-dimensional target evaluation.

[0094] Figure 4 This is a schematic diagram of the structure of an information determining device 400 according to an exemplary embodiment.

[0095] like Figure 4 As shown, the information determining device 400 may include:

[0096] The acquisition module 401 is used to acquire first information detected by the vehicle-mounted target detection system and second information detected by the truth system; wherein, the first information includes a first detection time and detected first parameter information, the first parameter information including at least one of a first distance between the target vehicle and the first object and a heading angle; the second information includes a second detection time and detected second parameter information, the second parameter information including at least one of a second distance between the target vehicle and the second object and a heading angle.

[0097] Calculation module 402 is used to calculate the correlation coefficient between the first parameter information and the second parameter information based on the first detection time and the second detection time;

[0098] The determination module 403 is used to determine the first object of the first parameter information and the second object corresponding to the second parameter information as objects with corresponding relationships when the correlation coefficient of the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, thereby obtaining the target correspondence relationship.

[0099] In one embodiment, the acquisition module 401 is further configured to acquire third information detected by the vehicle-mounted target detection system and fourth information detected by the truth system, wherein the third information includes the number of times the first parameter information is detected and the fourth information includes the number of times the second parameter information is detected.

[0100] The determining module 403 is further configured to determine the third information as the first information when the number of times the first parameter information is detected is greater than a preset threshold;

[0101] The determining module 403 is further configured to determine the fourth information as the second information when the number of times the second parameter information is detected is greater than the preset threshold.

[0102] In one embodiment, the calculation module 402 is further configured to calculate the correlation coefficient between the first parameter information and the second parameter information in the same time period during the first detection time and the second detection time.

[0103] In one implementation, the first detection time and the second detection time include time intervals;

[0104] The calculation module 402 is further configured to use the time of the information with a longer detection period in the first information and the second information as a reference, and calculate the parameter information of the information with a shorter detection period at the time by interpolation, so as to obtain the first information and the second information corresponding to the time.

[0105] The calculation module 402 is further configured to calculate the correlation coefficient between the first parameter information and the second parameter information based on the time, the first parameter information in the first information at the time, and the second parameter information in the second information at the time.

[0106] In one embodiment, the information determination device 400 may further include a deletion module;

[0107] The determining module 403 is further configured to determine the first object corresponding to the first parameter information and the second object corresponding to the second parameter information as objects with a corresponding relationship when there are multiple first objects and / or second objects; thus obtaining a first correspondence relationship.

[0108] The deletion module is used to delete the first correspondence where there are multiple first objects and / or multiple second objects, to obtain the target correspondence.

[0109] In one implementation, the target correspondence may include the identifiers of the first object and the second object.

[0110] Therefore, by acquiring the first information detected by the vehicle-mounted target detection system, which includes a first detection time and detected first parameter information, and acquiring the second information detected by the ground truth system, which includes a second detection time and detected second parameter information, the first and second parameter information can be used as signals for correlation analysis to match the first and second objects. Next, based on the first and second detection times, the correlation coefficient between the first and second parameter information is calculated. When the correlation coefficient is greater than a preset correlation coefficient threshold, the first object in the first parameter information and the second object corresponding to the second parameter information are identified as objects with a corresponding relationship, thus obtaining the target correspondence. This eliminates the need to build an actual test scenario; by utilizing the distance information of objects detected by the vehicle-mounted target detection system and the ground truth system, the correspondence between the first and second objects can be automatically matched. Detection data under different parameter combinations can be obtained on actual roads, reducing costs and improving the efficiency of determining the correspondence between objects.

[0111] Figure 5 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0112] An electronic device may include a processor 501 and a memory 502 storing computer program instructions.

[0113] Specifically, the processor 501 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0114] Memory 502 may include mass storage for data or instructions. For example, and not limitingly, memory 502 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 502 may include removable or non-removable (or fixed) media. Where appropriate, memory 502 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 502 is non-volatile solid-state memory.

[0115] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the methods according to one aspect of this disclosure.

[0116] The processor 501 reads and executes computer program instructions stored in the memory 502 to implement any of the information determination methods in the above embodiments.

[0117] In one example, the electronic device may also include a communication interface 503 and a bus 510. For example, Figure 5 As shown, the processor 501, memory 502, and communication interface 503 are connected through bus 510 and complete communication with each other.

[0118] The communication interface 503 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0119] Bus 510 includes hardware, software, or both, that couples components of a device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 510 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0120] The electronic device can execute the information determination method in this application embodiment based on the first information detected by the vehicle-mounted target detection system and the second information detected by the truth system, thereby achieving a combination of... Figure 1 The method for determining the described information.

[0121] Furthermore, in conjunction with the information determination methods in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the information determination methods in the above embodiments.

[0122] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0123] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0124] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0125] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0126] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A method for determining information, characterized in that, include: The system acquires first information detected by an onboard target detection system and second information detected by a truth system; wherein the first information includes a first detection time and first parameter information, the first parameter information including at least one of a first distance between the target vehicle and a first object and a heading angle; the second information includes a second detection time and second parameter information, the second parameter information including at least one of a second distance between the target vehicle and a second object and a heading angle. Based on the first detection time and the second detection time, calculate the linear correlation coefficient between the first parameter information and the second parameter information by product difference; When the correlation coefficient between the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, the first object of the first parameter information and the second object corresponding to the second parameter information are determined as objects with a corresponding relationship, and the target corresponding relationship is obtained. The first detection time and the second detection time include moments; the step of calculating the linear correlation coefficient between the first parameter information and the second parameter information based on the first detection time and the second detection time by product-difference further includes: Based on the time of the information with a longer detection period in the first information and the second information, the parameter information of the information with a shorter detection period at that time is calculated by interpolation, so as to obtain the first information and the second information corresponding to that time. Based on the time, the first parameter information in the first information at that time, and the second parameter information in the second information at that time, the linear correlation coefficient between the first parameter information and the second parameter information is calculated by product-difference.

2. The method according to claim 1, characterized in that, The acquisition of the first information detected by the vehicle-mounted target detection system and the second information detected by the truth system includes: Acquire third information detected by the vehicle-mounted target detection system and fourth information detected by the truth system. The third information includes the number of times the first parameter information is detected, and the fourth information includes the number of times the second parameter information is detected. When the number of times the first parameter information is detected is greater than a preset threshold, the third information is determined to be the first information; When the number of times the second parameter information is detected is greater than the preset threshold, the fourth information is determined to be the second information.

3. The method according to claim 1, characterized in that, The step of calculating the linear correlation coefficient between the first parameter information and the second parameter information based on the first detection time and the second detection time, by product difference, includes: Calculate the linear correlation coefficient between the first parameter information and the second parameter information within the same time period during the first detection time and the second detection time using the product difference.

4. The method according to claim 1, characterized in that, When the correlation coefficient between the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, the first object corresponding to the first parameter information and the second object corresponding to the second parameter information are determined as objects with a corresponding relationship, thus obtaining the target correspondence relationship, including: When there are multiple first objects and / or second objects, the first object corresponding to the first parameter information and the second object corresponding to the second parameter information are determined as objects with a corresponding relationship, and a first correspondence relationship is obtained. Delete the correspondences in the first correspondence where there are multiple first objects and / or multiple second objects to obtain the target correspondence.

5. The method according to claim 1, characterized in that, The target correspondence includes the identifiers of the first object and the second object.

6. An information determining device, characterized in that, The device includes: The acquisition module is used to acquire first information detected by the vehicle-mounted target detection system and second information detected by the truth system; wherein, the first information includes a first detection time and detected first parameter information, the first parameter information including at least one of a first distance between the target vehicle and the first object and a heading angle; the second information includes a second detection time and detected second parameter information, the second parameter information including at least one of a second distance between the target vehicle and the second object and a heading angle. The calculation module is used to calculate the linear correlation coefficient between the first parameter information and the second parameter information based on the first detection time and the second detection time, according to the product difference. The determination module is used to determine the first object of the first parameter information and the second object corresponding to the second parameter information as objects with a corresponding relationship when the correlation coefficient between the first parameter information and the second parameter information is greater than a preset correlation coefficient threshold, thereby obtaining the target correspondence relationship; The first detection time and the second detection time include a time interval; the calculation module is further configured to: take the time interval of the information with a longer detection period in the first information and the second information as a benchmark, calculate the parameter information of the information with a shorter detection period at the time interval by interpolation, and obtain the first information and the second information corresponding to the time interval; and calculate the linear correlation coefficient of the first parameter information and the second parameter information by product difference based on the time interval, the first parameter information in the first information at the time interval, and the second parameter information in the second information at the time interval.

7. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the information determination method as described in any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed by a processor, implement the information determination method as described in any one of claims 1-5.

9. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device performs the information determination method as described in any one of claims 1-5.

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