Object position determination method and device, electronic equipment and storage medium

Abstract

The invention provides an object position determination method and device, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of roadside perception, computer vision and intelligent traffic. The specific implementation scheme of the object position determination method comprises the following steps: acquiring at least two first initial positions detected by at least two sensing devices for a movable object at a first moment, at least two first relative position relationships between the at least two sensing devices and the movable object, and the category of the movable object; according to the first relative position relations, preset matrixes corresponding to the types of the movable objects are adjusted respectively, and first matrixes are obtained; based on each first matrix, fusing the at least two first initial positions to generate a first fusion position; and in response to the fact that differences between the first fusion position and the at least two first initial positions are smaller than a preset threshold value, determining that the first fusion position is the position of the movable object at the first moment.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence technology, in particular to roadside perception, computer vision, and intelligent transportation technology, and specifically to an object location method, device, electronic device, and storage medium. Background Art

[0002] Roadside perception uses various sensing devices, such as cameras, millimeter-wave radars, lidars, etc., to collect images for recognition and combine them with roadside edge computing to achieve intelligent perception of traffic participants on the road section. Summary of the invention

[0003] The present disclosure provides a method, device, electronic device and storage medium for determining a position of an object.

[0004] According to one aspect of the present disclosure, a method for determining an object position is provided, comprising: obtaining at least two first initial positions detected by at least two sensing devices for a movable object at a first moment and at least two first relative position relationships between the at least two sensing devices and the movable object; adjusting predetermined matrices corresponding to categories of movable objects according to the first relative position relationships to obtain first matrices; wherein the predetermined matrices indicate statistical deviations between perceived positions and true positions of objects of the categories in different directions; based on the first matrices, fusing at least two first initial positions to generate a first fused position; and in response to differences between the first fused position and the at least two first initial positions being less than a predetermined threshold, determining the first fused position as the position of the movable object at the first moment.

[0005] According to another aspect of the present disclosure, an object position determination device is provided, including: a first acquisition module, an adjustment module, a first fusion module and a first determination module.

[0006] The first acquisition module is used to acquire at least two first initial positions detected by at least two sensing devices for the movable object at a first moment and at least two first relative position relationships between the at least two sensing devices and the movable object.

[0007] The adjustment module is used for each first relative position relationship to adjust the predetermined matrix corresponding to the category of the movable object to obtain each first matrix; wherein the predetermined matrix indicates the statistical deviation between the perceived position and the real position of the object of the category in different directions.

[0008] The first fusion module is used to fuse at least two first initial positions based on the first matrices to generate a first fused position.

[0009] The first determining module is configured to determine that the first fused position is a position of the movable object at a first moment in response to differences between the first fused position and at least two first initial positions being less than a predetermined threshold.

[0010] According to another aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described above.

[0011] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute the method described above.

[0012] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0013] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0015] Figure 1 An exemplary system architecture to which the method and device for determining the position of an object according to an embodiment of the present disclosure can be applied is schematically shown;

[0016] Figure 2 A flowchart of a method for determining an object position according to an embodiment of the present disclosure is schematically shown;

[0017] Figure 3 A schematic diagram of position fusion based on space adjustment according to an embodiment of the present disclosure is schematically shown;

[0018] Figure 4 A schematic diagram of data processing for position fusion based on spatial adjustment according to an embodiment of the present disclosure is schematically shown;

[0019] Figure 5 A schematic diagram of position fusion based on time sequence and space adjustment according to an embodiment of the present disclosure is schematically shown;

[0020] Figure 6 A schematic diagram schematically shows a method for determining a timing adjustment parameter according to an embodiment of the present disclosure;

[0021] Figure 7 A schematic diagram of position fusion based on time series trajectory according to an embodiment of the present disclosure is schematically shown;

[0022] Figure 8 A block diagram schematically shows an object position determination device according to an embodiment of the present disclosure; and

[0023] Fig. 9 A block diagram of an electronic device suitable for implementing a method for determining a position of an object according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0024] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0025] In scenes with complex traffic flow at intersections, multiple roadside sensing devices are usually deployed to sense the position of movable objects on the road. When the roadside sensing device collects images, the pixel size of each target in the image depends on the relative position relationship between each target and the roadside sensing device. Therefore, the position of the same movable object sensed by different roadside sensing devices deviates from the actual position of the movable object in the physical world.

[0026] This deviation will cause multiple roadside sensing devices to perceive multiple positions of the same movable object at the same time, reducing the position recognition accuracy of the roadside sensing devices.

[0027] In view of this, the embodiment of the present disclosure utilizes the relative positions between different sensing devices and movable objects, dynamically adjusts the predetermined statistical deviation corresponding to the category of the movable object, and corrects the allowable deviation between the sensing position and the real position in different directions, so that the initial positions identified by multiple sensing devices can be correlated with each other to achieve fusion between multiple initial positions. And only when the difference between the fused position and each initial position is less than a predetermined threshold, the fused position is determined to be the position of the movable object, further improving the position recognition accuracy of the roadside sensing device.

[0028] Figure 1 An exemplary system architecture to which the method and apparatus for determining the position of an object according to an embodiment of the present disclosure can be applied is schematically shown.

[0029] It should be noted that Figure 1The examples shown are only examples of system architectures to which the embodiments of the present disclosure can be applied, in order to help those skilled in the art understand the technical content of the present disclosure, but do not mean that the embodiments of the present disclosure cannot be used in other devices, systems, environments or scenarios. For example, in another embodiment, an exemplary system architecture to which the object position determination method and apparatus can be applied may include a terminal device, but the terminal device may implement the object position determination method and apparatus provided by the embodiments of the present disclosure without interacting with a server.

[0030] like Figure 1 As shown, the system architecture 100 according to this embodiment may include perception devices 101, 102, 103, 104, a movable object 110, a network 105, and a server 106 configured in the intersection area. The network 105 is used as a medium for providing a communication link between the perception devices 101, 102, 103, 104 and the server 106. The network 105 may include various connection types, such as wired and / or wireless communication links, etc.

[0031] The sensing devices 101 , 102 , 103 , and 104 interact with the server 106 via the network 105 . For example, the collected sensing locations may be sent to the server 106 via the network 105 .

[0032] Server 106 may be a server that provides various services, such as analyzing and processing data such as the initial position sensed by the user using sensing devices 101, 102, 103, 104, the relative position between the sensing device and the movable object, and feeding back the processing results (such as the fused position, etc.) to the sensing device.

[0033] The object position determination method provided in the embodiment of the present disclosure can generally be executed by the server 106. Accordingly, the object position determination device provided in the embodiment of the present disclosure can generally be set in the server 106. The object position determination method provided in the embodiment of the present disclosure can also be executed by a server or server cluster that is different from the server 106 and can communicate with the perception devices 101, 102, 103, 104 and / or the server 106. Accordingly, the object position determination device provided in the embodiment of the present disclosure can also be set in a server or server cluster that is different from the server 106 and can communicate with the perception devices 101, 102, 103, 104 and / or the server 106.

[0034] For example, when the movable target 110 drives into the intersection area, the sensing devices 101, 102, 103, and 104 can respectively capture images of the movable target to obtain the sensing position and the relative position between each sensing device and the movable target, and then send the acquired sensing position and the relative position between each sensing device and the movable target to the server 106, which fuses the sensing positions to generate a fused position. The difference between the fused position and the initial sensing position is calculated, and the position of the movable object is finally output. Alternatively, a server or server cluster that can communicate with the sensing devices 101, 102, 103, 104 and / or the server 106 fuses the sensing positions and finally determines the position of the movable object.

[0035] The object position determination method provided in the embodiments of the present disclosure may generally also be executed by any one of the sensing devices 101 , 102 , 103 , and 104 .

[0036] For example: when the movable target 110 drives into the intersection area, the sensing devices 101, 102, 103, and 104 can respectively capture images of the movable target to obtain the sensing position and the relative position between each sensing device and the movable target, and then send the acquired sensing position and the relative position between each sensing device and the movable target to one of the sensing devices with position fusion function, and determine the position of the movable object by executing the method provided in the embodiment of the present disclosure.

[0037] It should be understood that Figure 1 The number of sensing devices, networks and servers in the embodiment is only for illustration. Any number of sensing devices, networks and servers may be provided according to the implementation requirements.

[0038] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision, disclosure and application of user personal information involved comply with the provisions of relevant laws and regulations, take necessary confidentiality measures, and do not violate public order and good morals.

[0039] In the technical solution of the present disclosure, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0040] Figure 2 The flowchart of the method for determining the position of an object according to an embodiment of the present disclosure is schematically shown.

[0041] like Figure 2 As shown, the method includes operations S210 to S240.

[0042] In operation S210, at least two first initial positions detected by at least two sensing devices for a movable object at a first moment and at least two first relative position relationships between the at least two sensing devices and the movable object are acquired.

[0043] In operation S220, predetermined matrices corresponding to the categories of movable objects are adjusted respectively according to the first relative position relationships to obtain first matrices.

[0044] In operation S230, at least two first initial positions are fused based on the first matrices to generate a first fused position.

[0045] In operation S240, in response to differences between the first fused position and at least two first initial positions being smaller than a predetermined threshold, the first fused position is determined to be a position of the movable object at the first moment.

[0046] According to an embodiment of the present disclosure, the sensing device may be an RSU (Road Side Unit) fixedly installed on a certain road section. The movable object may be various targets moving in the road section, such as vehicles, pedestrians, animals, etc.

[0047] According to an embodiment of the present disclosure, the first initial position may represent a 2D position obtained by the perception device by capturing an image of the movable object and recognizing the image, and then a 3D position obtained based on a mapping relationship between the 2D space and the 3D space.

[0048] According to an embodiment of the present disclosure, the first relative position relationship may represent the direction and distance of the first initial position relative to the installation position of the sensing device.

[0049] At intersections with complex traffic environments, movable objects may be blocked by large vehicles, or the collected image pixels may be low due to the movable objects being far away from the sensing device. These factors will lead to low 2D position accuracy obtained by image recognition, which will lead to low 3D position accuracy mapped to 3D space.

[0050] Therefore, the embodiment of the present disclosure adjusts a predetermined matrix based on the relative position relationship between each sensing device and the movable object, where the predetermined matrix indicates the statistical deviations between the perceived position and the actual position of an object of the same category as the movable target in different directions.

[0051] The predetermined matrix may be a covariance matrix, in which elements respectively represent the variance of the perceived position and the actual position in the observation direction of the movable object relative to the perception device and the variance in a direction perpendicular to the observation direction.

[0052] In some embodiments, a mapping relationship between the relative position relationship and the adjustment amplitude may be preconfigured, and then based on the relative position relationship between the installation position of each sensing device and the initial position of the movable object.

[0053] The adjustment range can be calculated based on the relative position relationship between multiple associated sensing positions and the sensing device and the movable object collected in the actual application scenario, and is obtained by any mathematical statistical method, which will not be elaborated here.

[0054] The adjustment range can indicate the degree of adjustment of the allowable deviation between the perceived position and the actual position. In actual application scenarios, the recognition accuracy of targets far away from the sensing device is usually poor, resulting in multiple sensing devices recognizing different positions of the same target at the same time. Therefore, the adjustment range is generally greater than 0, that is, the allowable deviation range needs to be expanded to achieve position association.

[0055] For example, if the first initial position of the movable object is in the north direction relative to the installation position of the sensing device, and the distance is 10m, the corresponding adjustment range may be to increase the variance of the observation direction of the movable object relative to the sensing device by n times. Therefore, the variance value corresponding to the observation direction in the predetermined threshold is increased by n times to obtain the updated first matrix.

[0056] The variance between the perceived position represented by the elements in each updated first matrix and the real position in the observation direction of the movable object relative to the perception device is enlarged by n times. It can be understood that the allowable deviation range of the first initial position recognized by each perception device is expanded. In this way, two first initial positions that were originally unable to be spatially associated can be associated, and then position fusion is performed, thereby correcting the 3D positioning deviation caused by inaccurate image recognition position.

[0057] Since the adjustment range is also obtained based on mathematical statistics, there may be errors. Therefore, the difference between the fused position and each first initial position can be calculated respectively, and when the differences are all less than a predetermined threshold, the first fused position is determined to be the position of the movable object at the first moment.

[0058] The disclosed embodiment utilizes the relative positions between different sensing devices and movable objects, dynamically adjusts the predetermined statistical deviation corresponding to the category of the movable object, and corrects the allowable deviation between the sensing position and the real position in different directions, so that the initial positions identified by multiple sensing devices can be correlated with each other to achieve fusion between multiple initial positions. Only when the difference between the fused position and each initial position is less than a predetermined threshold, the fused position is determined to be the position of the movable object, further improving the position recognition accuracy of the roadside sensing device.

[0059] Reference below Figure 3~Figure 7 , combined with specific embodiments Figure 2 The method shown is further explained.

[0060] According to an embodiment of the present disclosure, according to each first relative position relationship, the predetermined matrices corresponding to the categories of movable objects are adjusted respectively to obtain each first matrix, which may include the following operations: determining each first space adjustment parameter corresponding to each first relative position relationship; according to each first space adjustment parameter, the predetermined matrices are adjusted respectively to obtain each first matrix.

[0061] In some embodiments, the adjustment amplitude may be a spatial adjustment parameter corresponding to a single direction, or may be a spatial adjustment parameter corresponding to various directions. The spatial adjustment parameters corresponding to various directions may be the same or different.

[0062] Therefore, the mapping relationship between the relative position relationship and the space adjustment parameter can be pre-configured, and then based on the relative position relationship between the installation position of each sensing device and the initial position of the movable object.

[0063] For example: the first initial position of the movable object is in the north direction relative to the installation position of the sensing device, and the distance is 10m. The corresponding spatial adjustment parameters may include: the spatial adjustment parameter a1 of the movable object in the observation direction relative to the sensing device and the spatial adjustment parameter b1 perpendicular to the observation direction.

[0064] Figure 3 A schematic diagram of position fusion based on spatial adjustment according to an embodiment of the present disclosure is schematically shown.

[0065] like Figure 3 As shown, the embodiment 300 includes a position association diagram 300A before spatial adjustment is performed on a predetermined matrix and a position association diagram 300B after spatial adjustment is performed on the matrix.

[0066] In the position association diagram 300A before spatial adjustment for a predetermined matrix, C1 represents a sensing device 301 installed at position A, and C2 represents a sensing device 302 installed at position B. 01 A represents the statistical deviation range 310 between the first initial position detected by the sensing device 301 and the actual position. 02 represents the statistical deviation range 320 between the first initial position detected by the sensing device 302 and the actual position. 01 With A 02 It is impossible to associate, which means that even if the sensing device 301 and the sensing device 302 detect the position of the same object at the same time, according to the predetermined matrix indicating the statistical deviation range, A 01 With A 02The two locations cannot be associated, and the device still perceives the two locations.

[0067] However, after adjustment based on the spatial adjustment parameter, in the position association diagram 300B after spatial adjustment for the predetermined matrix, A1 represents the adjusted deviation range 311 between the first initial position detected by the sensing device 301 and the actual position, and the deviation range 311 is A 01 The variance of the movable object relative to the viewing direction of the sensing device is enlarged by a1 times, and the variance perpendicular to the viewing direction is enlarged by b1 times. 02 Adjustment is performed to obtain A2, which represents the adjusted deviation range 321 between the first initial position detected by the sensing device 302 and the actual position.

[0068] It can be seen that the adjusted A1 and A2 can be associated, which means that when the perception device 301 and the perception device 302 detect the position of the same object at the same time, according to the adjusted deviation range indicated by the adjusted first matrix, A1 and A2 can be associated, and the result of device perception can be a position.

[0069] According to the embodiments of the present disclosure, by configuring spatial adjustment parameters corresponding to the relative position relationship, the predetermined matrix is ​​dynamically adjusted based on the change in the relative position between the movable object and the sensing device, thereby improving the possibility that the sensing positions identified by multiple sensing devices for movable objects far away from the sensing devices or obscured movable objects can be correlated with each other, thereby further improving the accuracy of the fusion positioning of the sensing devices.

[0070] Figure 4 The data processing diagram for position fusion based on spatial adjustment according to an embodiment of the present disclosure is schematically shown.

[0071] like Figure 4 As shown, in the embodiment 400, first, a predetermined matrix A0 411 is determined based on the category 410 of the movable object. Then, a spatial adjustment parameter (a1, b1) 421a is determined based on the relative position R1 between the sensing device C1 and the movable object, and a spatial adjustment parameter (a2, b2) 421b is determined based on the relative position R2 between the sensing device C2 and the movable object. Next, the predetermined matrix A0 411 is adjusted based on the spatial adjustment parameter (a1, b1) 421a to obtain a matrix A1 422a. The predetermined matrix A0 411 is adjusted based on the spatial adjustment parameter (a2, b2) 421b to obtain a matrix A2 422b.

[0072] According to an embodiment of the present disclosure, predetermined matrices are adjusted respectively according to each first spatial adjustment parameter to obtain each first matrix, including the following operations: extracting initial deviations in each direction from the predetermined matrix; adjusting the initial deviations in each direction respectively according to the first spatial adjustment parameter in each direction to obtain first target deviations in each direction; and updating the predetermined matrix according to the first target deviation in each direction to obtain the first matrix.

[0073] According to an embodiment of the present disclosure, each direction includes a first direction and a second direction. The first direction represents the observation direction of the movable object relative to the perception device, and the second direction represents the direction perpendicular to the observation direction. The first spatial adjustment parameter includes the first spatial adjustment parameter of each direction. For example: a spatial adjustment parameter a corresponding to the observation direction α1 of the movable object relative to the perception device and a spatial adjustment parameter b corresponding to the direction α2 perpendicular to the observation direction.

[0074] For example, the predetermined matrix may be a two-dimensional covariance matrix, and the initial deviations in each direction extracted from the predetermined matrix may include an initial deviation λ1 corresponding to an observation direction α1 of the movable object relative to the sensing device and an initial deviation λ2 corresponding to a direction α2 perpendicular to the observation direction.

[0075] Then, according to the first spatial adjustment parameters of each direction, the initial deviations of each direction are adjusted respectively, and the first target deviation corresponding to the observation direction α1 of the movable object relative to the sensing device is obtained as aλ1. The first target deviation corresponding to the direction α2 perpendicular to the observation direction is bλ2. And the predetermined matrix is ​​updated. When updating the predetermined matrix, the elements used to represent the direction in the predetermined matrix remain unchanged, and only the initial deviations of each direction are updated to aλ1 and bλ2 of the corresponding direction.

[0076] In some embodiments, the predetermined matrix may also be a three-dimensional covariance matrix, which, compared with the two-dimensional covariance matrix, adds an initial deviation in the direction perpendicular to the plane where α1α2 is located. Correspondingly, when configuring the mapping relationship between the relative position relationship and the spatial adjustment parameter, it is sufficient to add the spatial adjustment parameter in this direction. The adjustment operation is similar to that of the two-dimensional covariance matrix, which will not be described in detail here.

[0077] According to the embodiments of the present disclosure, spatial relaxation is performed on the observation direction of the movable object relative to the perception device and the direction perpendicular to the observation direction, respectively, thereby reducing the influence of the perception deviation caused by the different relative positions of the perception device and the movable object on the position association, and further improving the accuracy of the fused position.

[0078] like Figure 4As shown, based on the matrix A1422a and the matrix A2422b, the position S2 (x2, y2) 412b detected by the sensing device C2 and the position S1412a (x1, y1) detected by the sensing device C1 are fused to generate a fused position S 12 431.

[0079] According to an embodiment of the present disclosure, based on each first matrix, at least two first initial positions are fused to generate a first fused position, including: averaging the first target deviations in each direction in each first matrix to obtain the first average deviation in each direction; and fusing at least two first initial positions based on the first average deviation in each direction to generate a first fused position.

[0080] According to an embodiment of the present disclosure, the first matrix indicates first target deviations between a first initial position of the movable object and a real position in different directions.

[0081] For example, in the observation direction of the movable object relative to the sensing device, the first target deviation σ1 corresponding to the sensing device C1 is extracted from the matrix A1, and the first target deviation σ2 corresponding to the sensing device C2 is extracted from the matrix A2.

[0082] The first average deviation σ in this direction can be calculated according to formula (1):

[0083] (1)

[0084] Then, the first fusion position coordinate x in this direction is calculated according to formula (2):

[0085] (2)

[0086] The calculation method for the first fusion position coordinate y perpendicular to the observation direction is the same as the method for calculating x, which will not be repeated here.

[0087] According to an embodiment of the present disclosure, by averaging the matrices of multiple sensing devices after spatial relaxation in different directions, the influence of the relative position between each sensing device and the movable object on the position association is comprehensively corrected, thereby improving the accuracy of the fused position.

[0088] Finally, operation S430 may be performed to determine the fusion position S 12 431 can calculate the difference with position S1412a and position S2412b respectively. When the difference is less than the threshold, operation S431 is performed to determine the object position as the fusion position S 12 When the difference is greater than or equal to the threshold, operation S432 is performed to combine the time series traces for fusion.

[0089] According to an embodiment of the present disclosure, the above method may also include the following operations: in response to the differences between the first fused position and at least two first initial positions being respectively greater than or equal to a predetermined threshold, obtaining at least two second initial positions detected by at least two sensing devices for the movable object at the second moment, at least two second relative position relationships between the at least two sensing devices and the movable object, and the moving speed of the movable object; based on the moving speed of the movable object and the first fused position, obtaining the estimated position of the movable object at the second moment; based on each second relative position relationship, fusing the estimated position with the at least two second initial positions to generate a second fused position; and in response to the differences between the second fused position and at least two second initial positions being respectively less than a predetermined threshold, determining the second fused position as the position of the movable object at the second moment.

[0090] According to an embodiment of the present disclosure, the second time is an adjacent time later than the first time.

[0091] Figure 5 The schematic diagram schematically shows position fusion based on time sequence and space adjustment according to an embodiment of the present disclosure.

[0092] like Figure 5 As shown, the embodiment 500 includes a position association diagram 500A before spatial and temporal adjustments are performed on a predetermined matrix and a position association diagram 500B after spatial and temporal adjustments are performed on the matrix.

[0093] In the position association diagram 500A before spatial and temporal adjustments are made to the predetermined matrix, C1 represents the sensing device 301 installed at position A, and C2 represents the sensing device 302 installed at position B. 01 ' represents the statistical deviation range 310 between the second initial position detected by the sensing device 301 and the true position. 02 ' represents the statistical deviation range 320' between the second initial position detected by the sensing device 302 and the real position. It can be seen that A 01 'With A 02 ' is not associated, which means that even if the sensing device 301 and the sensing device 302 detect the same object at the same time, according to the predetermined matrix indicating the statistical deviation range, A 01 'With A 02 'It is impossible to associate, the result of device perception is still two locations.

[0094] However, after adjustment based on the space adjustment parameter, A3 represents the adjusted deviation range 311′ between the second initial position detected by the sensing device 301 and the actual position, and the deviation range 311′ is the deviation range 311′ of A 01The variance of the movable object relative to the viewing direction of the sensing device is enlarged by a1' times, and the variance perpendicular to the viewing direction is enlarged by b1' times. 02 Adjustment is performed to obtain A4. A4 represents the adjusted deviation range 321' between the first initial position detected by the sensing device 302 and the real position. It can be seen in 500B that after spatial relaxation, A4 and A3 are still unable to be associated.

[0095] Therefore, in 500A, the estimated position ES of the movable object at time t is calculated based on the fusion position at time t-1 and the moving speed of the movable object. t 510.

[0096] In the position association diagram 500B after spatial and temporal adjustments are made to a predetermined matrix, it can be seen that based on the deviation range 511 after the temporal and spatial adjustments, A4 and A3 can be associated, indicating that when the perception device 301 and the perception device 302 detect the position of the same object at the same time, based on the deviation range 511 after the temporal and spatial adjustments, A4 and A3 can be associated, and the result of device perception can be a position.

[0097] According to the embodiments of the present disclosure, the predetermined matrix is ​​relaxed in space and time respectively, so that the predetermined matrix can be dynamically adjusted based on the change of the relative position between the movable object and the sensing device and the change of the time trajectory of the movable object. This improves the possibility that the sensing positions identified by multiple sensing devices for movable objects far away from the sensing devices or obscured movable objects can be correlated with each other, thereby further improving the accuracy of the fusion positioning of the sensing devices.

[0098] Different from the spatial adjustment parameters, the temporal adjustment parameters are not pre-configured, but are calculated based on the fused positions and estimated positions of the movable target at different times.

[0099] For example: obtaining the target timing adjustment parameter based on the difference between the fusion position at each moment and the estimated position at each moment may include the following operations: obtaining the position difference at each moment based on the fusion position at each moment and the estimated position at each moment; and processing the position difference at each moment to generate the target timing adjustment parameter.

[0100] Figure 6 The schematic diagram schematically shows a method for determining a timing adjustment parameter according to an embodiment of the present disclosure.

[0101] like Figure 6 As shown, based on S1 detected by the sensing device C1 at time t-2 t-2 610 and S2 detected by the sensing device C2 at t-2 t-2620 performs fusion to obtain fusion position S12 t-2 630. Then, according to the moving speed of the movable object, based on the fusion position S12 t-2 630 Calculate the estimated position ES of the movable object at time t-1 t-1 640. Then, the S1 detected by the sensing device C1 at time t-1 is t-1 611 and S2 detected by the sensing device C2 at t-1 t-1 621 are fused to obtain the fusion position S12 t- 1631.

[0102] Next, according to the moving speed of the movable object, based on the fusion position S12 t-1 631 Calculate the estimated position ES of the movable object at time t t 641. Then, the S1 detected by the sensing device C1 at time t t 612 and S2 detected by the sensing device C2 at t t 622 is fused to obtain the fusion position S12 t 632.

[0103] Finally, based on the fusion position S12 at time t-1 t-1 631 and the estimated position ES at time t-1 t-1 640, calculate the position difference Pd1 651. Based on the fusion position S12 at time t t 632 and the estimated position ES at time t t 641, calculate the position difference Pd2 652. And, according to the position difference Pd1 651 and the position difference Pd2 652, any mathematical operation, such as average operation, logarithmic operation, etc., can be performed to calculate the target timing adjustment parameter 660.

[0104] According to an embodiment of the present disclosure, based on the difference between the corresponding fused position and the estimated position at each moment, the timing fluctuation between the fused position and the estimated position in the temporal movement trajectory of the movable object is obtained, and the timing fluctuation is temporally relaxed for the estimated position at adjacent moments, thereby correcting the fluctuation deviation of the temporal trajectory and further improving the correlation of the perceived position on the temporal trajectory.

[0105] According to an embodiment of the present disclosure, based on each second relative position relationship, the estimated position is fused with at least two second initial positions to generate a second fused position, which may include the following operations: based on each second relative position relationship between at least two sensing devices and the movable object, respectively adjusting the predetermined matrices corresponding to the category of the movable object to obtain each second matrix; determining a third matrix with the largest second target deviation in each direction from each second matrix; adjusting the third matrix according to the target timing adjustment parameter to generate a fourth matrix; and based on the fourth matrix and each second matrix, fusing the estimated position with at least two second initial positions to generate a second fused position.

[0106] In some embodiments, the target timing adjustment parameter may be calculated based on the method described above using the estimated position and the fused position at each moment in the real-time moving trajectory.

[0107] In some embodiments, the target timing adjustment parameter may also be obtained by statistically calculating the trajectory position and the fusion position at each moment in the historical movement trajectories of multiple objects of the same category as the movable object.

[0108] For example, the movable object may be a vehicle, and multiple sensing devices may be fixedly configured in a certain intersection area. Then, the difference value between the trajectory position and the fusion position of each vehicle passing through the intersection area in the historical period at each historical moment may be calculated. Then, any statistical method is used to perform statistical calculations on the calculated difference value of each vehicle at each historical moment to obtain the target timing adjustment parameter.

[0109] In some embodiments, any mathematical operation may be used to fuse the estimated position with at least two second initial positions based on the fourth matrix and each second matrix to generate a second fused position.

[0110] In some embodiments, the second fusion position may also be calculated based on a method similar to the formula (1) and formula (2) described above.

[0111] According to the embodiments of the present disclosure, the target timing adjustment parameters are used to correct the matrix with the largest second target deviation, thereby reducing the influence of the timing trajectory deviation on position fusion, achieving dual relaxation of the estimated position in terms of timing and space, and further improving the accuracy of fusion positioning.

[0112] According to an embodiment of the present disclosure, based on each second relative position relationship, the predetermined matrices corresponding to the category of the movable object are adjusted respectively to obtain each second matrix, which may include the following operations: determining each second space adjustment parameter corresponding to each second relative position relationship; according to each second space adjustment parameter, adjusting the predetermined matrix respectively to obtain each second matrix.

[0113] For example, the second relative position relationship may represent the relative direction and relative distance between at least two sensing devices and the movable object at the second moment.

[0114] Based on the change in the relative position between the sensing device and the movable object, the parameters of the dynamic matching space are adjusted to adjust the predetermined matrix, thereby realizing the dynamic correction of statistical deviations and further improving the correlation accuracy of the sensing positions of multiple sensing devices for the same movable object.

[0115] According to an embodiment of the present disclosure, adjusting predetermined matrices respectively according to respective second space adjustment parameters to obtain respective second matrices may include the following operations: extracting initial deviations in respective directions from the predetermined matrix; adjusting the initial deviations in respective directions respectively according to the second space adjustment parameters in respective directions to generate second target deviations in respective directions; and updating the predetermined matrix according to the second target deviations in respective directions to obtain respective second matrices.

[0116] For each sensing position detected by each sensing device at each moment, spatial relaxation is required. Therefore, the process of adjusting the predetermined matrix based on each second relative position relationship to obtain each second matrix is ​​the same as the process of adjusting the predetermined matrix based on each first relative position relationship, which will not be described in detail here.

[0117] In the process of time series relaxation, since the estimated position calculated based on the fused position at time t-1 is introduced, when performing position fusion, the difference between the fused position at each time before time t-2 and the estimated position at each time can be used as follows: Figure 6 The method described in the figure calculates the target timing adjustment parameter. Then, based on the target timing adjustment parameter, the third matrix with the largest second target deviation in each direction in each second matrix is ​​adjusted, thereby achieving timing relaxation and spatial relaxation of the estimated position.

[0118] For example, the third matrix A can be adjusted according to the target timing adjustment parameters according to formula (3): max , generate the fourth matrix A es :

[0119] A es =γA max (3)

[0120] Where γ represents the target timing adjustment parameter.

[0121] According to an embodiment of the present disclosure, based on the target timing adjustment parameters, the third matrix with the largest second target deviation in each direction determined in each second matrix is ​​adjusted, thereby achieving timing relaxation and spatial relaxation of the estimated position, increasing the possibility of the existence of temporal and spatial correlation between the positions of each sensing device, and further improving the accuracy of fusion positioning.

[0122] According to an embodiment of the present disclosure, based on the fourth matrix and each second matrix, the estimated position is fused with at least two second initial positions to generate a second fused position, which may include the following operations: based on the second matrix corresponding to the first sensing device and the fourth matrix, the estimated position is fused with the second initial position detected by the first sensing device to generate an intermediate fused position; and based on the second matrix corresponding to the second sensing device and the fourth matrix, the intermediate fused position is fused with the second initial position detected by the second sensing device to generate a second fused position.

[0123] Figure 7 A schematic diagram of position fusion based on time series trajectory according to an embodiment of the present disclosure is schematically shown.

[0124] like Figure 7 As shown, in the embodiment 700, based on the moving speed of the movable object, according to the fusion position S at time t-1 t-1 701, calculate the estimated position ES at time t t 702.

[0125] According to an embodiment of the present disclosure, based on the second matrix and the fourth matrix corresponding to the first sensing device, the estimated position ES t 702 is fused with the second initial position (position St1703) detected by the first sensing device to generate an intermediate fusion position Es t , may include the following operations: averaging the second target deviations in each direction in the second matrix corresponding to the first sensing device and the third target deviations in each direction in the fourth matrix to obtain the second average deviations in each direction; and fusing the estimated position based on the second average deviations in each direction with the second initial position detected by the first sensing device to generate an intermediate fused position.

[0126] For example: Based on the matrix A3 and the matrix A es , refer to the formula (1) described above to calculate the second average deviation in each direction. Then, use formula (2) to calculate the intermediate fusion position. I will not go into details here.

[0127] Then, based on the second matrix and the fourth matrix corresponding to the second sensing device, the intermediate fusion position is fused with the second initial position detected by the second sensing device to generate a second fusion position, which may include the following operations: averaging the second target deviations in each direction in the second matrix corresponding to the second sensing device and the third target deviations in each direction in the fourth matrix to obtain the third average deviations in each direction; and fusing the intermediate fusion position with the second initial position detected by the second sensing device based on the third average deviations in each direction to generate a second fusion position.

[0128] For example: based on matrix A4 and matrix A es , calculate the second fusion position according to formulas (1) and (2) described above.

[0129] In the embodiment of the present disclosure, since the target adjustment timing parameter is a number greater than 1, the matrix A es It is calculated based on the largest target deviation matrix among all matrices. Therefore, matrix A es The deviation of each second matrix adjusted at time t is the largest. When calculating the intermediate fusion position and the second fusion position, directly use A es The matrix can be calculated as a matrix with the estimated position or the intermediate fused position.

[0130] According to an embodiment of the present disclosure, the estimated position is cascadedly fused with the initial position detected by each sensing device based on the dynamically corrected matrix, and the initial position of each sensing device is gradually corrected, thereby reducing the amount of data processing in each step and improving the efficiency of fusion positioning.

[0131] Figure 8 A block diagram of an object position determination device according to an embodiment of the present disclosure is schematically shown.

[0132] like Figure 8 As shown, the position determination device 900 may include: a first acquisition module 810, an adjustment module 820, a first fusion module 830 and a first determination module.

[0133] The first acquisition module 810 is used to acquire at least two first initial positions detected by at least two sensing devices for the movable object at a first moment and at least two first relative position relationships between the at least two sensing devices and the movable object.

[0134] The adjustment module 820 is used to adjust the predetermined matrices corresponding to the categories of movable objects for each first relative position relationship to obtain each first matrix; wherein the predetermined matrix indicates the statistical deviation between the perceived position and the actual position of the object of the category in different directions.

[0135] The first fusion module 830 is used to fuse at least two first initial positions based on the first matrices to generate a first fused position.

[0136] The first determination module 840 is configured to determine that the first fused position is the position of the movable object at the first moment in response to differences between the first fused position and at least two first initial positions being less than a predetermined threshold.

[0137] According to an embodiment of the present disclosure, the adjustment module may include: a first determination submodule and a first adjustment submodule. The first determination submodule is used to determine each first spatial adjustment parameter corresponding to each first relative position relationship. The first adjustment submodule is used to adjust the predetermined matrix according to each first spatial adjustment parameter to obtain each first matrix.

[0138] According to an embodiment of the present disclosure, the first spatial adjustment parameter includes the first spatial adjustment parameter of each direction; each direction includes a first direction and a second direction, the first direction represents the observation direction of the movable object relative to the sensing device, and the second direction represents the direction perpendicular to the observation direction. The first adjustment submodule may include a first extraction unit, a first adjustment unit, and a first update unit.

[0139] The first extraction unit is used to extract the initial deviation of each direction from the predetermined matrix. The first adjustment unit is used to adjust the initial deviation of each direction according to the first spatial adjustment parameter of each direction to obtain the first target deviation of each direction. The first update unit is used to update the predetermined matrix according to the first target deviation of each direction to obtain the first matrix.

[0140] According to an embodiment of the present disclosure, the first matrix indicates target deviations between a first initial position of the movable object and a real position in different directions. The first fusion module may include a first processing unit and a first fusion unit.

[0141] The first processing unit is used to average the first target deviations in each direction in each first matrix to obtain the first average deviation in each direction. The first fusion unit is used to fuse at least two first initial positions based on the first average deviation in each direction to generate a first fused position.

[0142] According to an embodiment of the present disclosure, the device may further include a second acquisition module, an estimation module, a second fusion module and a second determination module.

[0143] The second acquisition module is used to obtain at least two second initial positions detected by at least two sensing devices for the movable object at a second moment, at least two second relative position relationships between the at least two sensing devices and the movable object, and the moving speed of the movable object in response to the differences between the first fused position and the at least two first initial positions being greater than or equal to a predetermined threshold; wherein the second moment is an adjacent moment later than the first moment.

[0144] The estimation module is used to obtain an estimated position of the movable object at a second moment based on the moving speed of the movable object and the first fused position.

[0145] The second fusion module is used to fuse the estimated position with at least two second initial positions based on each second relative position relationship to generate a second fused position.

[0146] The second determination module is configured to determine that the second fused position is the position of the movable object at the second moment in response to the difference between the second fused position and the at least two second initial positions being less than a predetermined threshold.

[0147] According to an embodiment of the present disclosure, the second fusion module may include: a second adjustment submodule, a second determination submodule, a third adjustment submodule and a second fusion submodule.

[0148] The second adjustment submodule is used for adjusting the predetermined matrix corresponding to the category of the movable object for each second relative position relationship to obtain each second matrix.

[0149] The second determination submodule is used to determine, from the second matrices, a third matrix having the largest second target deviation in each direction.

[0150] The third adjustment submodule is used to adjust the third matrix according to the target timing adjustment parameter to generate a fourth matrix; wherein the target timing adjustment parameter is obtained according to the difference between the fusion position at each moment and the estimated position at each moment.

[0151] The second fusion submodule is used to fuse the estimated position with at least two second initial positions based on the fourth matrix and each second matrix to generate a second fused position.

[0152] According to an embodiment of the present disclosure, the second adjustment submodule may include the following operations: a first determining unit and a second adjusting unit.

[0153] The first determining unit is used to determine each second space adjustment parameter corresponding to each second relative position relationship. The second adjusting unit is used to adjust the predetermined matrix according to each second space adjustment parameter to obtain each second matrix.

[0154] According to an embodiment of the present disclosure, the second spatial adjustment parameter includes the second spatial adjustment parameter of each direction; each direction includes a first direction and a second direction, the first direction represents the observation direction of the movable object relative to the sensing device, and the second direction represents the direction perpendicular to the observation direction. The second adjustment unit includes: an extraction subunit, an adjustment subunit and an update subunit.

[0155] The extracting subunit is used to extract the initial deviation of each direction from the predetermined matrix. The adjusting subunit is used to adjust the initial deviation of each direction according to the second spatial adjustment parameter of each direction, and generate the second target deviation of each direction. The updating subunit is used to update the predetermined matrix according to the second target deviation of each direction to obtain each second matrix.

[0156] According to an embodiment of the present disclosure, the second fusion module further includes: a difference calculation submodule and a generation submodule. The difference calculation submodule is used to obtain the position difference at each moment according to the fusion position at each moment and the estimated position at each moment. The generation submodule is used to process the position difference at each moment and generate the target timing adjustment parameter.

[0157] According to an embodiment of the present disclosure, the at least two sensing devices include a first sensing device and a second sensing device. The second fusion submodule may include: a second fusion unit and a third fusion unit.

[0158] The second fusion unit is used to fuse the estimated position with the second initial position detected by the first perception device based on the second matrix and the fourth matrix corresponding to the first perception device to generate an intermediate fused position.

[0159] The third fusion unit is used to fuse the intermediate fusion position with the second initial position detected by the second perception device based on the second matrix and the fourth matrix corresponding to the second perception device to generate a second fusion position.

[0160] According to an embodiment of the present disclosure, the second fusion unit may include: a first averaging subunit and a first fusion subunit. The first averaging subunit is used to respectively average the second target deviations in each direction in the second matrix corresponding to the first sensing device and the third target deviations in each direction in the fourth matrix to obtain the second average deviations in each direction. The first fusion subunit is used to fuse the estimated position with the second initial position detected by the first sensing device based on the second average deviations in each direction to generate an intermediate fused position.

[0161] According to an embodiment of the present disclosure, the third fusion unit may include: a second averaging subunit and a second fusion subunit. The second averaging subunit is used to average the second target deviations in each direction in the second matrix corresponding to the second sensing device and the third target deviations in each direction in the fourth matrix, respectively, to obtain third average deviations in each direction. The second fusion subunit is used to fuse the intermediate fusion position with the second initial position detected by the second sensing device based on the third average deviations in each direction to generate a second fusion position.

[0162] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0163] According to an embodiment of the present disclosure, an electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method as described above.

[0164] According to an embodiment of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to execute the method as described above.

[0165] According to an embodiment of the present disclosure, a computer program product includes a computer program, and when the computer program is executed by a processor, the computer program implements the method as described above.

[0166] Fig. 9 A schematic block diagram of an example electronic device 900 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0167] like Fig. 9 As shown, the device 900 includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded from a storage unit 908 into a random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0168] A number of components in the device 900 are connected to the I / O interface 905, including: an input unit 906, such as a keyboard, a mouse, etc.; an output unit 907, such as various types of displays, speakers, etc.; a storage unit 908, such as a disk, an optical disk, etc.; and a communication unit 909, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 909 allows the device 900 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0169] The computing unit 901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 901 performs the various methods and processes described above, such as the object position determination method. For example, in some embodiments, the object position determination method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 900 via the ROM 902 and / or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the object position determination method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the object position determination method in any other appropriate manner (e.g., by means of firmware).

[0170] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0171] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0172] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 foregoing.

[0173] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: 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 pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0174] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0175] A computer system may include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises through computer programs running on respective computers and having a client-server relationship to each other. The server may be a cloud server, a server in a distributed system, or a server combined with a blockchain.

[0176] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0177] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for determining an object position, comprising: Acquire at least two first initial positions detected by at least two sensing devices for a movable object at a first moment, at least two first relative position relationships between the at least two sensing devices and the movable object, and a category of the movable object; According to each of the first relative position relationships, respectively adjusting predetermined matrices corresponding to the categories of the movable objects to obtain first matrices; wherein the predetermined matrices indicate statistical deviations between the perceived positions and the real positions of the objects of the categories in different directions; Based on each of the first matrices, fusing the at least two first initial positions to generate a first fused position; and In response to differences between the first fused position and the at least two first initial positions being smaller than a predetermined threshold, the first fused position is determined to be the position of the movable object at the first moment.

2. The method according to claim 1, wherein: The step of adjusting predetermined matrices corresponding to the categories of the movable objects according to the first relative position relationships to obtain first matrices includes: Determining first spatial adjustment parameters corresponding to the first relative position relationships; The predetermined matrices are adjusted respectively according to the first spatial adjustment parameters to obtain first matrices.

3. The method according to claim 2, wherein: The first spatial adjustment parameters include first spatial adjustment parameters of each direction; the directions include a first direction and a second direction; the first direction represents the viewing direction of the movable object relative to the sensing device; The second direction represents a direction perpendicular to the viewing direction; The step of adjusting the predetermined matrices according to the first spatial adjustment parameters to obtain the first matrices comprises: Extracting initial deviations in each direction from the predetermined matrix; According to the first spatial adjustment parameters of the directions, the initial deviations of the directions are adjusted accordingly to obtain first target deviations of the directions; and The predetermined matrix is ​​updated according to the first target deviations in each direction to obtain the first matrix.

4. The method according to any one of claims 1 to 3, wherein The first matrix indicates target deviations between a first initial position of the movable object and a real position in different directions; The step of fusing the at least two first initial positions based on the first matrices to generate a first fused position includes: Averaging the first target deviations in each direction in each of the first matrices to obtain a first average deviation in each direction; as well as The at least two first initial positions are fused based on the first average deviations in each direction to generate the first fused position.

5. The method according to any one of claims 1 to 4, further comprising: In response to the differences between the first fused position and the at least two first initial positions being greater than or equal to a predetermined threshold, obtaining at least two second initial positions detected by at least two sensing devices for the movable object at a second moment, at least two second relative positional relationships between the at least two sensing devices and the movable object, and a moving speed of the movable object; wherein the second moment is an adjacent moment later than the first moment; Obtaining an estimated position of the movable object at the second moment based on a moving speed of the movable object and the first fused position; Based on each of the second relative position relationships, fusing the estimated position with at least two second initial positions to generate a second fused position; and In response to the difference between the second fused position and the at least two second initial positions being smaller than the predetermined threshold, the second fused position is determined to be the position of the movable object at the second moment.

6. The method according to claim 5, wherein: The step of fusing the estimated position with at least two second initial positions based on each of the second relative position relationships to generate a second fused position includes: Based on respective second relative position relationships between at least two sensing devices and the movable object, respectively adjusting predetermined matrices corresponding to the categories of the movable object to obtain respective second matrices; Determine a third matrix having the largest second target deviation in each direction from each of the second matrices; adjusting the third matrix according to a target timing adjustment parameter to generate a fourth matrix; wherein the target timing adjustment parameter is obtained according to a difference between a fused position at each moment and an estimated position at each moment; and Based on the fourth matrix and each of the second matrices, the estimated position is fused with the at least two second initial positions to generate the second fused position.

7. The method according to claim 6, wherein: The method of adjusting predetermined matrices corresponding to the categories of the movable objects based on the second relative position relationships to obtain the second matrices comprises: determining second spatial adjustment parameters corresponding to the second relative position relationships; and The predetermined matrices are adjusted respectively according to the second spatial adjustment parameters to obtain second matrices.

8. The method according to claim 7, wherein: The second spatial adjustment parameter includes a second spatial adjustment parameter of each direction; the directions include: a first direction and a second direction; the first direction represents the viewing direction of the movable object relative to the sensing device; the second direction represents a direction perpendicular to the viewing direction; The step of adjusting the predetermined matrices according to the second spatial adjustment parameters to obtain the second matrices comprises: Extracting initial deviations in each direction from the predetermined matrix; According to the second spatial adjustment parameters of the directions, the initial deviations of the directions are adjusted accordingly to generate second target deviations of the directions; and The predetermined matrix is ​​updated according to the second target deviations in each direction to obtain each of the second matrices.

9. The method according to claim 6, wherein: The target timing adjustment parameter is obtained according to the difference between the fused position at each moment and the estimated position at each moment, and includes: Obtaining the position difference at each moment according to the fused position at each moment and the estimated position at each moment; and The position differences at each moment are processed to generate the target timing adjustment parameters.

10. The method according to claim 6, wherein: The at least two sensing devices include a first sensing device and a second sensing device; The fusing the estimated position with the at least two second initial positions based on the fourth matrix and each of the second matrices to generate the second fused position includes: Based on a second matrix corresponding to the first sensing device and the fourth matrix, fusing the estimated position with a second initial position detected by the first sensing device to generate an intermediate fused position; and Based on the second matrix corresponding to the second sensing device and the fourth matrix, the intermediate fused position is fused with the second initial position detected by the second sensing device to generate the second fused position.

11. The method according to claim 10, wherein: The step of fusing the estimated position with the second initial position detected by the first sensing device based on the second matrix corresponding to the first sensing device and the fourth matrix to generate an intermediate fused position includes: Averaging the second target deviations in each direction in the second matrix corresponding to the first sensing device and the third target deviations in each direction in the fourth matrix to obtain second average deviations in each direction; and The estimated position is fused with a second initial position detected by the first sensing device based on the second average deviation in each direction to generate the intermediate fused position.

12. The method according to claim 10, wherein: The step of fusing the intermediate fused position with the second initial position detected by the second sensing device based on the second matrix corresponding to the second sensing device and the fourth matrix to generate the second fused position includes: Averaging the second target deviations in each direction in the second matrix corresponding to the second sensing device and the third target deviations in each direction in the fourth matrix to obtain third average deviations in each direction; and The intermediate fused position is fused with the second initial position detected by the second sensing device based on the third average deviation in each direction to generate the second fused position.

13. An object position determination device, comprising: A first acquisition module is used to acquire at least two first initial positions detected by at least two sensing devices for a movable object at a first moment, at least two first relative position relationships between the at least two sensing devices and the movable object, and a category of the movable object; An adjustment module, configured to adjust predetermined matrices corresponding to the categories of the movable objects for each of the first relative position relationships, respectively, to obtain first matrices; wherein the predetermined matrices indicate statistical deviations between the perceived positions and the real positions of the objects of the categories in different directions; A first fusion module, configured to fuse the at least two first initial positions based on the first matrices to generate a first fused position; and The first determining module is configured to determine that the first fused position is the position of the movable object at the first moment in response to differences between the first fused position and the at least two first initial positions being less than a predetermined threshold.

14. The device according to claim 13, wherein: The adjustment module comprises: A first determining submodule, configured to determine first space adjustment parameters corresponding to the first relative position relationships; and The first adjustment submodule is used to adjust the predetermined matrices respectively according to the first spatial adjustment parameters to obtain first matrices.

15. The device according to claim 14, wherein: The first spatial adjustment parameters include first spatial adjustment parameters of each direction; the directions include a first direction and a second direction; the first direction represents the viewing direction of the movable object relative to the sensing device; The second direction represents a direction perpendicular to the viewing direction; The first adjustment submodule includes: A first extraction unit, used to extract initial deviations in various directions from the predetermined matrix; a first adjustment unit, configured to adjust the initial deviations of the directions respectively according to the first spatial adjustment parameters of the directions to obtain first target deviations of the directions; and The first updating unit is used to update the predetermined matrix according to the first target deviations in each direction to obtain the first matrix.

16. The device according to any one of claims 13 to 15, wherein: The first matrix indicates target deviations between a first initial position of the movable object and a real position in different directions; The first fusion module includes: A first processing unit, configured to respectively average the first target deviations in each direction in each of the first matrices to obtain a first average deviation in each direction; as well as The first fusion unit is used to fuse the at least two first initial positions based on the first average deviation in each direction to generate the first fused position.

17. The device according to any one of claims 13 to 16, wherein: The device also includes: a second acquisition module, configured to acquire, in response to the differences between the first fused position and the at least two first initial positions being greater than or equal to a predetermined threshold, at least two second initial positions detected by at least two sensing devices for the movable object at a second moment, at least two second relative positional relationships between the at least two sensing devices and the movable object, and a moving speed of the movable object; wherein the second moment is an adjacent moment later than the first moment; an estimating module, configured to obtain an estimated position of the movable object at the second moment based on a moving speed of the movable object and the first fused position; A second fusion module, configured to fuse the estimated position with at least two second initial positions based on the second relative position relationships to generate a second fused position; and The second determining module is configured to determine that the second fused position is the position of the movable object at the second moment in response to the difference between the second fused position and the at least two second initial positions being less than the predetermined threshold.

18. The device according to claim 17, wherein: The second fusion module includes: A second adjustment submodule, for each of the second relative position relationships, respectively adjusting a predetermined matrix corresponding to the category of the movable object to obtain each second matrix; A second determination submodule, used for determining a third matrix having the largest second target deviation in each direction from each of the second matrices; a third adjustment submodule, configured to adjust the third matrix according to a target timing adjustment parameter to generate a fourth matrix; wherein the target timing adjustment parameter is obtained according to a difference between a fused position at each moment and an estimated position at each moment; and The second fusion submodule is used to fuse the estimated position with the at least two second initial positions based on the fourth matrix and each of the second matrices to generate the second fused position.

19. The device according to claim 18, wherein: The second adjustment submodule includes: A first determining unit, configured to determine each second space adjustment parameter corresponding to each second relative position relationship; and The second adjustment unit is used to adjust the predetermined matrix according to each of the second space adjustment parameters to obtain each second matrix.

20. The device according to claim 19, wherein The second spatial adjustment parameter includes a second spatial adjustment parameter of each direction; the directions include: a first direction and a second direction; the first direction represents the viewing direction of the movable object relative to the sensing device; the second direction represents a direction perpendicular to the viewing direction; The second adjustment unit includes: An extraction subunit, used for extracting initial deviations in various directions from the predetermined matrix; an adjusting subunit, configured to adjust the initial deviations in the directions respectively according to the second spatial adjustment parameters in the directions, so as to generate second target deviations in the directions; and The updating subunit is used to update the predetermined matrix according to the second target deviations in each direction to obtain each of the second matrices.

21. The device according to claim 18, wherein The second fusion module also includes: A difference calculation submodule, used to obtain the position difference at each moment according to the fused position at each moment and the estimated position at each moment; and The generating submodule is used to process the position differences at each moment and generate the target timing adjustment parameters.

22. The device according to claim 18, wherein The at least two sensing devices include a first sensing device and a second sensing device; The second fusion submodule includes: a second fusion unit, configured to fuse the estimated position with a second initial position detected by the first sensing device based on a second matrix corresponding to the first sensing device and the fourth matrix, to generate an intermediate fused position; as well as The third fusion unit is used to fuse the intermediate fusion position with the second initial position detected by the second sensing device based on the second matrix corresponding to the second sensing device and the fourth matrix to generate the second fusion position.

23. The device according to claim 22, wherein: The second fusion unit comprises: a first averaging subunit, configured to average the second target deviations in each direction in the second matrix corresponding to the first sensing device and the third target deviations in each direction in the fourth matrix, respectively, to obtain second average deviations in each direction; and The first fusion subunit is used to fuse the estimated position with the second initial position detected by the first sensing device based on the second average deviation in each direction to generate the intermediate fused position.

24. The device according to claim 22, wherein: The third fusion unit comprises: a second averaging subunit, configured to average the second target deviations in each direction in the second matrix corresponding to the second sensing device and the third target deviations in each direction in the fourth matrix, respectively, to obtain third average deviations in each direction; and The second fusion subunit is used to fuse the intermediate fusion position with the second initial position detected by the second sensing device based on the third average deviation in each direction to generate the second fusion position.

25. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 12.

26. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-12.

27. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 12.

Images