The embodiment of the invention provides a target positioning method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving positioning. The method comprises the following steps: acquiring a target detection frame of a plurality of targets around a vehicle under a second coordinate system at the current moment, and acquiring a target tracking frame of a plurality of targets under a first coordinate system at the previous moment; acquiring a self-parking space posture of the self-parking in the first coordinate system at the current moment; converting the target detection frames of the plurality of targets under the second coordinate system at the current moment into the target detection frames of the plurality of targets under the first coordinate system at the current moment according to the parking space postures; matching the target detection frame under the first coordinate system at the current moment with the target tracking frame under the first coordinate system at the previous moment, and optimizing the self-parking space attitude by taking the successfully matched first target tracking frame as the self-vehicle state observed quantity to obtain the optimized self-parking space attitude of the self-vehicle under the first coordinate system at the current moment; therefore, the precision of automatic driving positioning is improved.
本发明实施例提供了一种目标定位方法、装置、电子设备及存储介质,涉及自动驾驶定位技术领域。该方法包括:获取当前时刻自车周围多个目标在第二坐标系下的目标检测框,以及,获取上一时刻多个目标在第一坐标系下的目标跟踪框;获取当前时刻自车在第一坐标系下的自车位姿;根据自车位姿,将当前时刻多个目标在第二坐标系下的目标检测框转换成当前时刻多个目标在第一坐标系下的目标检测框;将当前时刻第一坐标系下的目标检测框,与,上一时刻第一坐标系下的目标跟踪框进行匹配,将匹配成功的第一目标跟踪框作为自车状态观测量,对自车位姿进行优化,得到当前时刻自车在第一坐标系下优化后的自车位姿,从而提升自动驾驶定位的精度。
Target positioning method and device, electronic equipment and storage medium
一种目标定位方法、装置、电子设备及存储介质
2024-07-30
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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