Sensing target positioning error compensation method and device, medium and product

Abstract

The invention relates to the technical field of information, and provides a sensing target positioning error compensation method and device, a medium and a product. The sensing target positioning error compensation method comprises the following steps: acquiring current sensing target positioning data; inputting an abscissa in the current sensing target positioning data into the first error model to obtain position compensation of the abscissa; inputting the ordinate in the current sensing target positioning data into the second error model to obtain the position compensation of the ordinate; obtaining final sensing target positioning data based on the current sensing target positioning data, the position compensation of the horizontal coordinate and the position compensation of the vertical coordinate; wherein the first error model and the second error model are constructed through historical sensing target positioning data obtained by sensing equipment and historical sensing target positioning data obtained by RTK. Through the configuration mode, the precision of the sensing device for acquiring the sensing target positioning data is improved.

Description

Technical Field

[0001] The present application relates to the field of information technology, and in particular to a method, device, medium and product for compensating for perception target positioning errors. Background Art

[0002] The "vehicle-road-cloud integration" solution for intelligent connected vehicles is a Chinese-style autonomous driving technology route. The "road" side of the vehicle-road-cloud integration solution includes roadside sensing equipment, which can sense targets far away on the road and achieve beyond-visual-range sensing functions that cannot be achieved by a single vehicle. The sensors used by roadside sensing equipment to sense targets include cameras, millimeter-wave radars, and lidars. Among them, cameras can not only detect targets and locate targets, but also identify target categories. Millimeter-wave radars can sense targets all day and night, and can sense distant targets (150-250 meters from the device installation). The two sensors complement each other and can better improve the roadside sensors' ability to sense road participants.

[0003] Cameras and millimeter-wave radars are generally used at the roadside for target positioning. Calibration is required during the positioning process of cameras and millimeter-wave radars. After the sensor calibration process is completed, the coordinates of the target in the geodetic coordinate system within the sensing range, that is, the position of the target, can be determined through the calibration parameters. However, in the actual sensor calibration process, due to problems with the calibration method or calibration data, there are certain errors in the calibration parameters. When using these parameters for target positioning, there will be certain positioning deviations. This deviation is generally corrected by fine-tuning the calibration parameters multiple times. The calibration parameters are correlated, such as camera intrinsic parameters and extrinsic parameters. There are many parameters, the calculation is complex, the accuracy that can be corrected is limited, and multiple calibration reference data needs to be collected. Summary of the invention

[0004] One purpose of the present application is to provide a method for compensating a perception target positioning error, at least to solve the problem of how to improve the accuracy of a perception device in acquiring perception target positioning data.

[0005] To achieve the above objectives, some embodiments of the present application provide the following aspects:

[0006] In a first aspect, some embodiments of the present application further provide a method for compensating a perceived target positioning error, the method comprising:

[0007] Obtain current perception target positioning data;

[0008] Inputting the horizontal coordinate in the current perception target positioning data into the first error model to obtain position compensation of the horizontal coordinate;

[0009] Inputting the ordinate in the current perception target positioning data into a second error model to obtain position compensation of the ordinate;

[0010] Acquire final perception target positioning data based on the current perception target positioning data, the position compensation of the horizontal coordinate and the position compensation of the vertical coordinate;

[0011] The first error model and the second error model are both constructed by using historical perception target positioning data obtained by the perception device and historical perception target positioning data acquired by RTK.

[0012] In a second aspect, some embodiments of the present application further provide an electronic device, comprising: one or more processors; and a memory storing computer program instructions, wherein the computer program instructions, when executed, cause the processor to perform the steps of the method described above.

[0013] In a third aspect, some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the method as described above.

[0014] In a fourth aspect, some embodiments of the present application further provide a computer program product, comprising a computer program / instruction, which implements the steps of the method described above when executed by a processor.

[0015] Compared with the related art, in the solution provided in the embodiment of the present application, current perception target positioning data is obtained; the horizontal coordinate in the current perception target positioning data is input into the first error model to obtain the position compensation of the horizontal coordinate; the vertical coordinate in the current perception target positioning data is input into the second error model to obtain the position compensation of the vertical coordinate; based on the current perception target positioning data, the position compensation of the horizontal coordinate and the position compensation of the vertical coordinate, the final perception target positioning data is obtained; wherein the first error model and the second error model are both constructed by historical perception target positioning data obtained by the perception device and the historical perception target positioning data obtained by RTK. Through the above configuration, the present application can improve the accuracy of the perception device in acquiring the perception target positioning data, because the first error model and the second error model are both constructed through the historical perception target positioning data obtained by the perception device and the historical perception target positioning data obtained by RTK, so the horizontal coordinate in the current perception target positioning data is input into the first error model, and the position compensation of the horizontal coordinate can be accurately obtained; the vertical coordinate in the current perception target positioning data is input into the second error model, and the position compensation of the vertical coordinate can be accurately obtained. The current perception target positioning data is corrected by the position compensation of the horizontal coordinate and the position compensation of the vertical coordinate to obtain the final perception target positioning data, so the present application can improve the accuracy of the perception device in acquiring the perception target positioning data. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0017] Figure 1 It is a schematic flow chart of the main steps of a method for compensating a perception target positioning error according to an embodiment of the present application;

[0018] Figure 2 It is a schematic diagram of an exemplary structure of an electronic device according to the present application. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] See attached Figure 1 , Figure 1 FIG. 1 is a flow chart of the main steps of a method for compensating for a perceived target positioning error according to an embodiment of the present application. Figure 1 As shown, the perception target positioning error compensation method in the embodiment of the present application mainly includes the following steps S101-S104.

[0021] Step S101: Acquire current perception target positioning data.

[0022] In this embodiment, the current sensing target positioning data is obtained through a sensing device, wherein the sensing device may be a camera or a millimeter wave radar located in a road test.

[0023] Step S102: inputting the horizontal coordinate in the current perception target positioning data into a first error model to obtain position compensation of the horizontal coordinate.

[0024] In this embodiment, the horizontal coordinate in the current perception target positioning data is input into the first error model to obtain the position compensation of the horizontal coordinate. The first error model is constructed by the historical perception target positioning data obtained by the perception device and the historical perception target positioning data obtained by RTK.

[0025] In one implementation, the first error model is constructed according to the following steps S1021 to S1025:

[0026] Step S1021: Acquire multiple sensing target positioning data collected by RTK and multiple sensing target positioning data collected by corresponding sensing devices;

[0027] In one implementation, step S1021 may further include steps S10211 to S10212:

[0028] Step S10211: construct a rectangular coordinate system with the position of the pole where the sensing device is installed as the origin, and collect data through the sensing device to obtain multiple sensing target positioning data collected by the corresponding sensing device.

[0029] In this embodiment, a rectangular coordinate system can be constructed with the position of the sensing device installation pole as the origin, the X-axis facing due east, the Y-axis facing due north, and "meter" as the distance unit, and data collection is performed through the sensing device to obtain multiple sensing target positioning data collected by the corresponding sensing device, expressed as (px, py).

[0030] Step S10212: Acquire the perception target positioning data in multiple geodetic coordinate systems collected by RTK, and transform the perception target positioning data in the multiple geodetic coordinate systems collected by RTK into the rectangular coordinate system to obtain the multiple perception target positioning data collected by RTK.

[0031] In this embodiment, the perception target positioning data (coordinates in multiple geodetic coordinate systems) in multiple geodetic coordinate systems collected by RTK are converted into the rectangular coordinate system to obtain the perception target positioning data (coordinates in rectangular coordinates) collected by RTK. rtk ,py rtk )express.

[0032] Step S1022: Based on the multiple perception target positioning data collected by the RTK and the multiple perception target positioning data collected by the corresponding perception device, multiple horizontal axis position difference data are obtained and a matrix of the horizontal axis position difference data is constructed.

[0033] In one implementation, step S1022 may further include steps S10221 to S10222:

[0034] Step S10221: aligning the multiple sensing target positioning data collected by the RTK and the multiple sensing target positioning data collected by the corresponding sensing device in time sequence to obtain multiple groups of data;

[0035] In this embodiment, each set of data includes a perception target positioning data collected by the RTK and a perception target positioning data collected by a corresponding perception device. The perception target positioning data collected by the RTK after time alignment and the perception target positioning data collected by the corresponding perception device can establish a corresponding relationship more accurately to improve the detection accuracy of the model.

[0036] Step S10222: subtract the horizontal coordinates of each set of data to obtain position difference data of multiple horizontal axes and construct a matrix of the position difference data of the horizontal axes.

[0037] In this embodiment, the horizontal coordinates of each set of data are subtracted, Ex=pxrtk-px, Ex is the position difference data of the horizontal axis, and the matrix of the position difference data of the horizontal axis can be represented by E.

[0038] Step S1023: constructing a matrix of horizontal axis distances from the perception target to the perception device based on the multiple perception target positioning data collected by the RTK.

[0039] In this embodiment, a matrix of the horizontal axis distances from the perception target to the perception device is constructed based on the multiple perception target positioning data collected by the RTK. The matrix of the horizontal axis distances from the perception target to the perception device constructed by the multiple perception target positioning data is represented by P.

[0040] Step S1024: Obtain coefficients of the first error model based on the matrix of the horizontal axis position difference data and the matrix of the horizontal axis distance from the perception target to the perception device.

[0041] In this embodiment, the coefficients of the first error model are obtained based on the matrix of the horizontal axis position difference data and the matrix of the horizontal axis distance from the sensing target to the sensing device. It is represented by A, that is, P*A=E

[0042] Expand to

[0043] Then, A=(P T ·P) -1 P T E, and then A can be solved to obtain the coefficients of the first error model.

[0044] Step S1025: construct the first error model based on the coefficients of the first error model.

[0045] In this embodiment, A is brought into a preset positioning error model to construct the first error model.

[0046] E=a0+a1p+a2p 2 +a3p3

[0047] Among them, p represents the distance from the perceived target positioning data (coordinate) to the horizontal axis of the rectangular coordinate system, and E in this formula represents the position compensation of the horizontal coordinate (Ex_est).

[0048] In one embodiment, the first error model is a third-order polynomial. When the model order is lower than the third order, the fitting ability is poor. When the model order is higher than the third order, the calculation is slightly improved, but the calculation formula becomes complicated. The present application adopts a third-order polynomial to achieve both accuracy and calculation efficiency.

[0049] Step S103: inputting the ordinate in the current perception target positioning data into the second error model to obtain position compensation of the ordinate.

[0050] In this embodiment, the ordinate in the current perception target positioning data is input into the second error model to obtain the position compensation of the ordinate, wherein the second error model is constructed by the historical perception target positioning data obtained by the perception device and the historical perception target positioning data obtained by RTK.

[0051] In one implementation, the first error model is constructed according to the following steps S1031 to S1035:

[0052] Step S1031: Acquire multiple sensing target positioning data collected by RTK and multiple sensing target positioning data collected by corresponding sensing devices;

[0053] In this embodiment, a rectangular coordinate system is constructed with the position of the pole where the sensing device is installed as the origin, and data is collected by the sensing device to obtain multiple sensing target positioning data collected by the corresponding sensing device. A rectangular coordinate system can be constructed with the position of the pole where the sensing device is installed as the origin, the X axis facing due east, the Y axis facing due north, and "meter" as the distance unit, and data is collected by the sensing device to obtain multiple sensing target positioning data collected by the corresponding sensing device, which is represented by (px, py).

[0054] Step S1032: Based on the multiple perception target positioning data collected by the RTK and the multiple perception target positioning data collected by the corresponding perception device, obtain the position difference data of multiple longitudinal axes and construct a matrix of the position difference data of the longitudinal axes.

[0055] In one implementation, step S1032 may further include steps S10321 to S10322:

[0056] Step S10321: aligning the multiple sensing target positioning data collected by the RTK and the multiple sensing target positioning data collected by the corresponding sensing device in time sequence to obtain multiple groups of data;

[0057] In this embodiment, each set of data includes a perception target positioning data collected by the RTK and a perception target positioning data collected by a corresponding perception device. The perception target positioning data collected by the RTK after time alignment and the perception target positioning data collected by the corresponding perception device can establish a corresponding relationship more accurately to improve the detection accuracy of the model.

[0058] Step S10322: subtract the vertical coordinates of each set of data to obtain position difference data of multiple vertical axes and construct a matrix of the position difference data of the vertical axes.

[0059] In this embodiment, the horizontal coordinates of each set of data are subtracted, Ey=py rtk -py, Ey is the position difference data of the vertical axis, and the matrix of the position difference data of the vertical axis can be represented by E.

[0060] Step S1033: constructing a matrix of longitudinal axis distances from the perception target to the perception device based on the multiple perception target positioning data collected by the RTK.

[0061] In this embodiment, a matrix of the longitudinal axis distances from the perception target to the perception device is constructed based on the multiple perception target positioning data collected by the RTK. The matrix of the longitudinal axis distances from the perception target to the perception device constructed by the multiple perception target positioning data is represented by P.

[0062] Step S1034: acquiring coefficients of the second error model based on the matrix of the position difference data of the longitudinal axis and the matrix of the longitudinal axis distance from the sensing target to the sensing device;

[0063] In this embodiment, the coefficients of the second error model are obtained based on the matrix of the position difference data of the longitudinal axis and the matrix of the longitudinal axis distance from the sensing target to the sensing device. It is represented by A, that is, P*A=E

[0064] Expand to

[0065] Then, A=(P T ·P) -1 P T E, and then A can be solved to obtain the coefficients of the second error model.

[0066] Step S1035: construct the second error model based on the coefficients of the second error model.

[0067] In this implementation, A is substituted into a preset positioning error model to construct the second error model.

[0068] E=a0+a1p+a2p 2 +a3p 3

[0069] Among them, p represents the distance from the perceived target positioning data (coordinate) to the vertical axis of the rectangular coordinate system, and E in this formula represents the position compensation of the vertical coordinate (Ey_est).

[0070] Step S104: acquiring final perception target positioning data based on the current perception target positioning data, the position compensation of the horizontal coordinate and the position compensation of the vertical coordinate.

[0071] In this embodiment, the horizontal coordinate in the current perception target positioning data is added with the position compensation of the horizontal coordinate, and the vertical coordinate in the current perception target positioning data is added with the position compensation of the vertical coordinate to obtain the final perception target positioning data.

[0072] That is px out = px + Ex_est; py out =py+Ey_est

[0073] Among them, the final perception target positioning data is (px out ,py out ).

[0074] Based on the above steps S101 to S104, the current perception target positioning data is obtained; the horizontal coordinate in the current perception target positioning data is input into the first error model to obtain the position compensation of the horizontal coordinate; the vertical coordinate in the current perception target positioning data is input into the second error model to obtain the position compensation of the vertical coordinate; based on the current perception target positioning data, the position compensation of the horizontal coordinate and the position compensation of the vertical coordinate, the final perception target positioning data is obtained; wherein the first error model and the second error model are both constructed by historical perception target positioning data obtained by perception equipment and historical perception target positioning data obtained by RTK. Through the above configuration, the present application can improve the accuracy of the perception device in acquiring the perception target positioning data, because the first error model and the second error model are both constructed through the historical perception target positioning data obtained by the perception device and the historical perception target positioning data obtained by RTK, so the horizontal coordinate in the current perception target positioning data is input into the first error model, and the position compensation of the horizontal coordinate can be accurately obtained; the vertical coordinate in the current perception target positioning data is input into the second error model, and the position compensation of the vertical coordinate can be accurately obtained. The current perception target positioning data is corrected by the position compensation of the horizontal coordinate and the position compensation of the vertical coordinate to obtain the final perception target positioning data, so the present application can improve the accuracy of the perception device in acquiring the perception target positioning data.

[0075] The step division of the above methods is only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0076] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed by this application, but this does not mean that there are no other units in this embodiment.

[0077] In addition, some embodiments of the present application also provide an electronic device. The electronic device may be a digital computer in various forms, such as a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, etc. The electronic device may also be a mobile device in various forms, such as a personal digital processing, a cellular phone, a smart phone, a wearable device, and other similar computing devices.

[0078] The electronic device includes: one or more processors; and a memory storing computer program instructions, wherein when the computer program instructions are executed, the processor executes the steps of the method provided in any one or more of the above embodiments. Figure 2 An exemplary structural diagram of the electronic device is disclosed. Figure 2 As shown, the electronic device includes: one or more processors 1101, memory 1102, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Among them, the components shown in this article, their connections and relationships, and their functions are only used as examples, and are not intended to limit the implementation of the present application described and / or required herein.

[0079] The electronic device may further include: an input device 1103 and an output device 1104. The processor 1101, the memory 1102, the input device 1103 and the output device 1104 may be connected via a bus or other means. Figure 2 The example of connecting through bus is taken in the following.

[0080] The input device 1103 can receive input digital or character information, and generate key signal input related to the user settings and function control of the electronic device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick and other input devices. The output device 1104 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0081] To provide interaction with a user, the electronic device may be a computer. The computer has: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0082] In the embodiments of the present application, a computer program / instruction is stored on a computer-readable medium, and when the computer program / instruction is executed by a processor, the steps of the method provided by any one or more of the above embodiments are implemented. The computer-readable medium may be included in the electronic device described in the above embodiments; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer-readable instructions.

[0083] The memory 1102 can be used as a non-transient computer-readable storage medium, which can be used to store non-transient software programs, non-transient computer executable programs and modules. The processor 1101 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 1102, so as to implement the program instructions / modules corresponding to the method provided by any one or more embodiments in the embodiments of the present application.

[0084] The memory 1102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 1102 may optionally include a memory remotely arranged relative to the processor 1101, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0085] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0086] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, modules of programs or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0087] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0088] In the above-described embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. For example, it can be implemented by using an application specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware device. In certain embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including relevant data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented by hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0089] The computer program product provided in the embodiment of the present application includes one or more computer programs / instructions, and when the computer program / instructions are executed by the processor, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0090] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0091] The scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim may also be implemented by one unit or device through software or hardware. The words "first", "second", etc. are only used to distinguish the description, and do not indicate any particular order, nor can they be understood as indicating or implying relative importance.

[0092] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily mention changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims, and the above embodiments should be regarded as exemplary and non-restrictive.

Claims

1. A method for compensating a perception target positioning error, characterized in that: The method comprises: Obtain current perception target positioning data; Inputting the horizontal coordinate in the current perception target positioning data into the first error model to obtain position compensation of the horizontal coordinate; Inputting the ordinate in the current perception target positioning data into a second error model to obtain position compensation of the ordinate; Acquire final perception target positioning data based on the current perception target positioning data, the position compensation of the horizontal coordinate and the position compensation of the vertical coordinate; The first error model and the second error model are both constructed by using historical perception target positioning data obtained by the perception device and historical perception target positioning data acquired by RTK.

2. The method for compensating the perceived target positioning error according to claim 1, characterized in that: The first error model is constructed according to the following steps: Acquire multiple sensing target positioning data collected by RTK and multiple sensing target positioning data collected by corresponding sensing devices; Based on the multiple sensing target positioning data collected by the RTK and the multiple sensing target positioning data collected by the corresponding sensing device, multiple horizontal axis position difference data are obtained and a matrix of the horizontal axis position difference data is constructed; Constructing a matrix of horizontal axis distances from the perception target to the perception device based on the multiple perception target positioning data collected by the RTK; Obtaining coefficients of the first error model based on a matrix of the position difference data of the horizontal axis and a matrix of the horizontal axis distance from the sensing target to the sensing device; The first error model is constructed based on coefficients of the first error model.

3. The method for compensating the perceived target positioning error according to claim 2, characterized in that: The acquiring of the plurality of sensing target positioning data collected by RTK and the plurality of sensing target positioning data collected by the corresponding sensing device also includes: A rectangular coordinate system is constructed with the position of the sensing device installation pole as the origin, and data is collected through the sensing device to obtain multiple sensing target positioning data collected by the corresponding sensing device; Acquire the perception target positioning data in multiple geodetic coordinate systems collected by RTK, and transform the perception target positioning data in multiple geodetic coordinate systems collected by RTK into the rectangular coordinate system to acquire the multiple perception target positioning data collected by RTK.

4. The method for compensating the perceived target positioning error according to claim 2, characterized in that: The method of acquiring position difference data of multiple horizontal axes based on the multiple sensing target positioning data collected by the RTK and the multiple sensing target positioning data collected by the corresponding sensing device and constructing a matrix of the position difference data of the horizontal axes also includes: After aligning the multiple perception target positioning data collected by the RTK and the multiple perception target positioning data collected by the corresponding perception device in time sequence, multiple groups of data are obtained; wherein each group of data includes one perception target positioning data collected by the RTK and one perception target positioning data collected by the corresponding perception device; The horizontal coordinates of each set of data are subtracted to obtain position difference data of multiple horizontal axes and construct a matrix of the position difference data of the horizontal axes.

5. The method for compensating the perceived target positioning error according to claim 1, characterized in that: Also includes: The first error model is a third order polynomial.

6. The method for compensating the perceived target positioning error according to claim 1, characterized in that: The following steps construct the second error model: Acquire multiple sensing target positioning data collected by RTK and multiple sensing target positioning data collected by corresponding sensing devices; Based on the multiple sensing target positioning data collected by the RTK and the multiple sensing target positioning data collected by the corresponding sensing device, obtaining the position difference data of multiple longitudinal axes and constructing a matrix of the position difference data of the longitudinal axes; Constructing a matrix of longitudinal axis distances from the perception target to the perception device based on the multiple perception target positioning data collected by the RTK; Obtaining coefficients of the second error model based on the matrix of the longitudinal position difference data and the matrix of the longitudinal axis distance from the sensing target to the sensing device; The second error model is constructed based on the coefficients of the second error model.

7. The method for compensating the perceived target positioning error according to claim 6, characterized in that: The method of acquiring position difference data of multiple longitudinal axes and constructing a matrix of the position difference data of the longitudinal axes based on the multiple perception target positioning data collected by the RTK and the multiple perception target positioning data collected by the corresponding perception device further includes: After aligning the multiple perception target positioning data collected by the RTK and the multiple perception target positioning data collected by the corresponding perception device in time sequence, multiple groups of data are obtained; wherein each group of data includes one perception target positioning data collected by the RTK and one perception target positioning data collected by the corresponding perception device; The vertical coordinates of each set of data are subtracted to obtain position difference data of multiple vertical axes and construct a matrix of the position difference data of the vertical axes.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; and A memory storing computer program instructions, which, when executed, cause the processor to perform the steps of the method as claimed in any one of claims 1 to 7.

9. A computer readable medium having a computer program / instructions stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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