The invention relates to a perceptual information correction method and device, electronic equipment and a storage medium, and the method comprises the steps: determining a target correction value through multiple times of optimization and estimation of the correction value, enabling the target correction value to enable the error between a corrected target position of a target road element output by a to-be-corrected sensor and a reference position to be small, and obtaining a perceptual information correction result; the reference position is a position corresponding to a target road element in a reference coordinate system, and the sensor to be corrected outputs the position of the target road element relative to a vehicle body coordinate system; and determining a target position of the target road element according to the target correction amount. In the vehicle driving process, the target correction amount of the vehicle body coordinates relative to the reference coordinates is calculated, and the deviation generated by the change of the vehicle body coordinate system is corrected based on the target correction amount, so that the sensing error of the sensor to be corrected can be ensured to be small in various driving scenes of the vehicle, and in the application of automatic driving, the accuracy is high. The control precision of automatic driving is improved, and the safety and the driving experience are improved.
本发明涉及一种感知信息的修正方法、装置、电子设备和存储介质,该方法包括:通过多次优化估算修正量,确定目标修正量,目标修正量使得待修正传感器输出的目标道路元素经过修正后的目标位置与基准位置的误差小,基准位置是在基准坐标系下的目标道路元素对应的位置,待修正传感器相对于车体坐标系输出目标道路元素的位置;根据目标修正量确定目标道路元素的目标位置。本发明在车辆行驶过程中,通过计算车体坐标相对基准坐标的目标修正量,基于目标修正量修正车体坐标系发生变化而产生的偏差,使得车辆各种行驶场景中,均能保障待修正传感器的感知误差较小,在自动驾驶的应用中,提高自动驾驶的控制精度,提升安全性和驾驶体验。
Perception information correction method and device, electronic equipment and storage medium
感知信息的修正方法、装置、电子设备和存储介质
2024-10-18
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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