CN112488150A - Target correction method, device and system based on vehicle-road cooperation and storage medium - Google Patents
Target correction method, device and system based on vehicle-road cooperation and storage medium Download PDFInfo
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- CN112488150A CN112488150A CN202011216785.8A CN202011216785A CN112488150A CN 112488150 A CN112488150 A CN 112488150A CN 202011216785 A CN202011216785 A CN 202011216785A CN 112488150 A CN112488150 A CN 112488150A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The application provides a target correction method, a device, a system and a storage medium based on vehicle-road cooperation, wherein the method comprises the following steps: acquiring two-dimensional target data and two-dimensional lane line data through a camera configured in a target correction system; correcting the two-dimensional target data and the two-dimensional lane line data to obtain two-dimensional corrected target data and two-dimensional corrected lane line data; determining first target lane data, and adding the first target lane data into the two-dimensional corrected target data to obtain second target data; converting the coordinate system of the second target data and the two-dimensional corrected lane line data to obtain three-dimensional target data and three-dimensional lane line data; correcting the three-dimensional target data and the three-dimensional lane line data to obtain three-dimensional corrected target data and three-dimensional corrected lane line data; and determining second target lane data, and adding the second target lane data into the three-dimensional correction target data to obtain third target data.
Description
Technical Field
The present disclosure relates to the field of automotive technologies, and in particular, to a method, an apparatus, a system, and a storage medium for target correction based on vehicle-road coordination.
Background
The vehicle-road cooperation means that advanced wireless communication, new generation internet and other technologies are adopted, dynamic real-time information interaction of vehicles and vehicles is carried out in all directions, active safety control of vehicles and road cooperative management are carried out on the basis of full-time dynamic traffic information acquisition and fusion, effective cooperation of human and vehicles is fully realized, traffic safety is guaranteed, traffic efficiency is improved, and therefore a safe, efficient and environment-friendly road traffic technology is formed. With the development of vehicle driving automation, accurate positioning of a vehicle is slowly becoming an important technology for implementing driving assistance and automatic driving.
In the prior art, a camera, a millimeter wave radar, a laser radar and other sensors arranged at a road end are adopted for a vehicle to obtain target information, the sensors are processed through an algorithm to obtain the target information, meanwhile, multi-sensor fusion is carried out in a post-fusion mode, the obtained fused target information fuses the characteristics of the sensors, and the positioning result of a target is more accurate. Although the position of the target can be corrected by the post-fusion strategy, there is a sudden jump of target information during the fusion process, and therefore, an error of the positioning result still exists, and the error increases as the detected distance increases.
Disclosure of Invention
The embodiment of the application provides a method, a device and a system for correcting a target based on vehicle-road cooperation and a storage medium, wherein lane information of the target is added into target information for positioning the target, and the detected target information is corrected twice, so that target jump formed by fusion of multiple sensors is prevented, and the accuracy of target positioning can be realized.
In one aspect, an embodiment of the present application provides a target correction method based on vehicle-road cooperation, including:
acquiring two-dimensional target data and two-dimensional lane line data through a camera configured in a target correction system;
correcting the two-dimensional target data and the two-dimensional lane line data based on the two-dimensional lane line data and a preset two-dimensional coordinate true value of a lane line to obtain two-dimensional corrected target data and two-dimensional corrected lane line data;
determining first target lane data based on the two-dimensional corrected target data and the lane line two-dimensional coordinate true value, and adding the first target lane data into the two-dimensional corrected target data to obtain second target data;
converting a coordinate system of the second target data and the two-dimensional corrected lane line data to obtain three-dimensional target data and three-dimensional lane line data;
correcting the three-dimensional target data and the three-dimensional lane line data based on the three-dimensional lane line data and a preset three-dimensional coordinate true value of the lane line to obtain three-dimensional corrected target data and three-dimensional corrected lane line data;
and determining second target lane data based on the three-dimensional corrected target data and the lane line three-dimensional coordinate true value, and adding the second target lane data into the three-dimensional corrected target data to obtain third target data.
Optionally, the target correction method in the embodiment of the present application further includes:
acquiring fourth target data through a millimeter wave radar configured in the target correction system, and acquiring fifth target data through a laser radar configured in the target correction system;
and fusing the third target data, the fourth target data and the fifth target data to obtain sixth target data.
Optionally, the two-dimensional target data comprises two-dimensional coordinates of a target, and the two-dimensional lane line data comprises two-dimensional coordinates of a lane line;
the three-dimensional object data includes three-dimensional coordinates of an object, and the three-dimensional lane line data includes three-dimensional coordinates of a lane line.
Optionally, the correcting the two-dimensional target data and the two-dimensional lane line data based on the two-dimensional lane line data and a preset two-dimensional coordinate true value of the lane line to obtain two-dimensional corrected target data and two-dimensional corrected lane line data includes:
calculating an error between the two-dimensional coordinate of the lane line and a truth value of the two-dimensional coordinate of the lane line based on a preset equation to obtain an error curve;
and correcting the two-dimensional coordinates of the target and the two-dimensional coordinates of the lane line according to the error curve to obtain the two-dimensional coordinates of the corrected target and the two-dimensional coordinates of the corrected lane line.
Optionally, the determining of the first target lane data based on the two-dimensional corrected target data and the truth value of the two-dimensional coordinate of the lane line, and adding the first target lane data to the two-dimensional corrected target data to obtain second target data includes;
judging the position relation between the target and the lane line according to the corrected two-dimensional coordinate of the target and the truth value of the two-dimensional coordinate of the lane line, and determining the data of the lane where the target is located;
and adding the data of the lane where the target is located into the two-dimensional correction target data to obtain second target data.
Optionally, the modifying the three-dimensional target data and the three-dimensional lane line data based on the three-dimensional lane line data and a preset three-dimensional coordinate true value of the lane line to obtain three-dimensional modified target data and three-dimensional modified lane line data includes:
calculating an error between the three-dimensional coordinate of the lane line and a true value of the three-dimensional coordinate of the lane line based on a preset equation to obtain an error curve;
and correcting the three-dimensional coordinates of the target and the three-dimensional coordinates of the lane line according to the error curve to obtain the three-dimensional coordinates of the corrected target and the three-dimensional coordinates of the corrected lane line.
Optionally, the determining of second target lane data based on the three-dimensional corrected target data and the true value of the three-dimensional coordinate of the lane line, and adding the second target lane data to the three-dimensional corrected target data to obtain third target data includes;
judging the position relation between the target and the lane line according to the corrected three-dimensional coordinate of the target and the three-dimensional coordinate truth value of the lane line, and determining the data of the lane where the target is located;
and adding the data of the lane where the target is located into the three-dimensional correction target data to obtain third target data.
In another aspect, an embodiment of the present application provides an object correction apparatus, including:
the first acquisition module is used for acquiring two-dimensional target data and two-dimensional lane line data through a camera configured in the target correction system;
the first correction module is used for correcting the two-dimensional target data and the two-dimensional lane line data based on the two-dimensional lane line data and a preset two-dimensional coordinate true value of the lane line to obtain two-dimensional corrected target data and two-dimensional corrected lane line data;
the first determining module is used for determining first target lane data based on the two-dimensional corrected target data and the truth value of the two-dimensional coordinate of the lane line, and adding the first target lane data into the two-dimensional corrected target data to obtain second target data;
the coordinate conversion module is used for carrying out coordinate system conversion on the second target data and the two-dimensional corrected lane line data to obtain three-dimensional target data and three-dimensional lane line data;
the second correction module is used for correcting the three-dimensional target data and the three-dimensional lane line data based on the three-dimensional lane line data and a preset three-dimensional coordinate true value of the lane line to obtain three-dimensional corrected target data and three-dimensional corrected lane line data;
and the second determining module is used for determining second target lane data based on the three-dimensional corrected target data and the true value of the three-dimensional coordinate of the lane line, and adding the second target lane data into the three-dimensional corrected target data to obtain third target data.
On the other hand, the embodiment of the application provides a target correction system, which comprises a road end sensing device and a storage device;
the road end sensing device comprises a camera, a millimeter wave radar and a laser radar, wherein the camera is used for acquiring two-dimensional target data, the millimeter wave radar is used for acquiring fourth target data, and the laser radar is used for acquiring fifth target data;
the storage device is used for storing a preset two-dimensional coordinate true value and a preset three-dimensional coordinate true value of the lane line.
In another aspect, an embodiment of the present application provides a computer storage medium, where at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement any one of the above-mentioned target correction methods.
The method, the device, the system and the storage medium for target correction based on vehicle-road cooperation have the following beneficial effects:
the detected target data and lane line data are corrected for the first time in an image data layer through a preset lane line two-dimensional coordinate true value, and lane data where a target is located are added into the target data, so that the information of the target is perfected, and the accurate positioning of the target is facilitated; and performing second correction on the target data and the lane line data corresponding to the real world after coordinate conversion through a preset lane line three-dimensional coordinate true value, and adding the corrected lane data again, so that twice correction is realized, and the accuracy of a target positioning result is further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of a target correction method provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of an object correction apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application, and the application scenario includes a road-end sensing device 101 and a vehicle 102, where the road-end sensing device includes a camera, a millimeter wave radar, and a laser radar, and is configured to obtain vehicle information and lane line information, perform two corrections by using the target correction method according to the embodiment of the present application based on the obtained vehicle information and lane line information, and apply the obtained corrected target information to tracking and positioning of the vehicle, so as to improve accuracy of vehicle positioning.
While specific embodiments of a target modification method of the present application are described below, fig. 2 is a flow chart of a target modification method provided by embodiments of the present application, and the present specification provides the method operation steps as in the embodiments or the flow chart, but may include more or less operation steps based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system or server product may be implemented in a sequential or parallel manner (e.g., parallel processor or multi-threaded environment) according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 2, the method may include:
s201: acquiring two-dimensional target data and two-dimensional lane line data through a camera configured in a target correction system;
in specific implementation, the two-dimensional target data includes two-dimensional coordinates of the target vehicle, the two-dimensional lane line data includes two-dimensional coordinates of the lane line, and the two-dimensional coordinates of the target vehicle and the two-dimensional coordinates of the lane line are acquired through image data detected by the camera.
As an optional implementation manner, after step S201, detecting whether the formats of the acquired dimensional target data and the two-dimensional lane line data are correct, including determining whether the acquired data is empty, determining whether the image frame number is correct, determining whether the two-dimensional coordinates in the data are not within the image range, and the like. If the obtained judgment result is that the data is available, the process proceeds to step S202, and if the obtained judgment result is that the data is unavailable, the process repeats step S201.
S202: correcting the two-dimensional target data and the two-dimensional lane line data based on the two-dimensional lane line data and a preset true value of a two-dimensional coordinate of the lane line to obtain two-dimensional corrected target data and two-dimensional corrected lane line data;
in a specific implementation, since the position of the road-end sensing device is not changed and the position of the lane line in the real environment is not changed, a true value of the lane line in the image coordinate system, that is, a true value of the two-dimensional coordinate of the lane line, may be set in advance, and the true value of the two-dimensional coordinate of the lane line may be obtained through calibration of the detected image data.
The step S202 may specifically include: calculating the error between the two-dimensional coordinate of the lane line and the truth value of the two-dimensional coordinate of the lane line based on a preset equation to obtain an error curve;
and correcting the two-dimensional coordinates of the target and the two-dimensional coordinates of the lane line according to the error curve to obtain the two-dimensional coordinates of the corrected target and the two-dimensional coordinates of the corrected lane line.
S203: determining first target lane data based on the two-dimensional corrected target data and a lane line two-dimensional coordinate true value, and adding the first target lane data into the two-dimensional corrected target data to obtain second target data;
the step S203 may specifically include: judging the position relation of the target and the lane line according to the corrected two-dimensional coordinate of the target and the truth value of the two-dimensional coordinate of the lane line, and determining the data of the lane where the target is located;
and adding the data of the lane where the target is located into the two-dimensional correction target data to obtain second target data.
In a specific implementation, if the two-dimensional coordinate of the corrected target is obtained, the two-dimensional coordinate of the corrected target and the truth value of the two-dimensional coordinate of the lane line can be compared, so that the relative position of the target and the lane line is determined; for example, assuming that the left side of the detected lane line is a first lane and the right side is a second lane, if the target vehicle is confirmed to be on the left side of the lane line by comparing the corrected two-dimensional coordinates of the target with the true two-dimensional coordinates of the lane line, it may be determined that the target vehicle is on the first lane, and at this time, the serial number of the lane where the target vehicle is located may be added to the target information to increase the accuracy of positioning and avoid the target from jumping.
S204: converting the coordinate system of the second target data and the two-dimensional corrected lane line data to obtain three-dimensional target data and three-dimensional lane line data;
in a particular implementation, the three-dimensional object data includes three-dimensional coordinates of the object and the three-dimensional lane line data includes three-dimensional coordinates of the lane line.
S205: correcting the three-dimensional target data and the three-dimensional lane line data based on the three-dimensional lane line data and a preset lane line three-dimensional coordinate true value to obtain three-dimensional corrected target data and three-dimensional corrected lane line data;
in a specific implementation, since the position of the road-end sensing device is not changed and the position of the lane line in the real environment is not changed, a true value of the lane line in the three-dimensional coordinate system, that is, the true value of the lane line three-dimensional coordinate, may be set in advance, and the true value of the lane line three-dimensional coordinate may be obtained by point-sampling calibration in the real environment.
The step S205 may specifically include: calculating the error between the three-dimensional coordinate of the lane line and the true value of the three-dimensional coordinate of the lane line based on a preset equation to obtain an error curve;
and correcting the three-dimensional coordinates of the target and the three-dimensional coordinates of the lane line according to the error curve to obtain the corrected three-dimensional coordinates of the target and the corrected three-dimensional coordinates of the lane line.
S206: and determining second target lane data based on the three-dimensional corrected target data and the true value of the three-dimensional coordinate of the lane line, and adding the second target lane data into the three-dimensional corrected target data to obtain third target data.
The step S206 may specifically include: judging the position relation of the target and the lane line according to the corrected three-dimensional coordinate of the target and the three-dimensional coordinate truth value of the lane line, and determining the data of the lane where the target is located;
and adding the data of the lane where the target is located into the three-dimensional correction target data to obtain third target data.
In a specific implementation, if the three-dimensional coordinates of the corrected target are obtained, the three-dimensional coordinates of the corrected target and the three-dimensional coordinate truth value of the lane line can be compared, so that the relative position of the target and the lane line is determined; for example, if the left side of the detected lane line is a first lane and the right side is a second lane, if the target vehicle is confirmed to be on the left side of the lane line by comparing the corrected three-dimensional coordinate of the target with the true value of the three-dimensional coordinate of the lane line, the target vehicle can be determined to be on the first lane, and at this time, the serial number of the lane where the target vehicle is located can be added to the target information to obtain the three-dimensional target information with the lane data where the target is located.
As an optional implementation manner, the target modification method in the embodiment of the present application further includes:
s207: acquiring fourth target data through a millimeter wave radar configured in the target correction system, and acquiring fifth target data through a laser radar configured in the target correction system;
s208: and fusing the third target data, the fourth target data and the fifth target data to obtain sixth target data.
And the weight of each sensor in the multi-sensor fusion can be adjusted in a self-adaptive manner, and the target jump is reduced.
An embodiment of the present application further provides a target correction device, and fig. 3 is a schematic structural diagram of the target correction device provided in the embodiment of the present application, and as shown in fig. 3, the device includes:
a first obtaining module 301, configured to obtain two-dimensional target data and two-dimensional lane line data through a camera configured in a target modification system;
the first correction module 302 is configured to correct the two-dimensional target data and the two-dimensional lane line data based on the two-dimensional lane line data and a preset lane line two-dimensional coordinate true value, so as to obtain two-dimensional corrected target data and two-dimensional corrected lane line data;
a first determining module 303, configured to determine first target lane data based on the two-dimensional corrected target data and a true value of the two-dimensional coordinate of the lane line, and add the first target lane data to the two-dimensional corrected target data to obtain second target data;
the coordinate conversion module 304 is configured to perform coordinate system conversion on the second target data and the two-dimensional corrected lane line data to obtain three-dimensional target data and three-dimensional lane line data;
a second correction module 305, configured to correct the three-dimensional target data and the three-dimensional lane line data based on the three-dimensional lane line data and a preset lane line three-dimensional coordinate true value, so as to obtain three-dimensional corrected target data and three-dimensional corrected lane line data;
the second determining module 306 is configured to determine second target lane data based on the three-dimensional corrected target data and the true value of the three-dimensional coordinate of the lane line, and add the second target lane data to the three-dimensional corrected target data to obtain third target data.
The embodiment of the application also provides a target correction system, which comprises a road end sensing device and a storage device;
the road end sensing device comprises a camera, a millimeter wave radar and a laser radar, wherein the camera is used for acquiring two-dimensional target data, the millimeter wave radar is used for acquiring fourth target data, and the laser radar is used for acquiring fifth target data;
the storage device is used for storing a preset two-dimensional coordinate true value and a preset three-dimensional coordinate true value of the lane line.
The embodiment of the present application provides a computer storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the above target correction method.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
As can be seen from the embodiments of the target correction method, device, system, or storage medium provided by the present application, in the present application, the detected target data and lane line data are corrected for the first time on the image data layer by the preset true value of the two-dimensional coordinate of the lane line, and the lane data where the target is located is added to the target data, so that the information of the target is improved, and the accurate positioning of the target is facilitated; and performing second correction on the target data and the lane line data corresponding to the real world after coordinate conversion through a preset lane line three-dimensional coordinate true value, and adding the corrected lane data again, so that twice correction is realized, and the accuracy of a target positioning result is further improved.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A target correction method based on vehicle-road cooperation is characterized by comprising the following steps:
acquiring two-dimensional target data and two-dimensional lane line data through a camera configured in a target correction system;
correcting the two-dimensional target data and the two-dimensional lane line data based on the two-dimensional lane line data and a preset two-dimensional coordinate true value of a lane line to obtain two-dimensional corrected target data and two-dimensional corrected lane line data;
determining first target lane data based on the two-dimensional corrected target data and the lane line two-dimensional coordinate true value, and adding the first target lane data into the two-dimensional corrected target data to obtain second target data;
converting a coordinate system of the second target data and the two-dimensional corrected lane line data to obtain three-dimensional target data and three-dimensional lane line data;
correcting the three-dimensional target data and the three-dimensional lane line data based on the three-dimensional lane line data and a preset three-dimensional coordinate true value of the lane line to obtain three-dimensional corrected target data and three-dimensional corrected lane line data;
and determining second target lane data based on the three-dimensional corrected target data and the lane line three-dimensional coordinate true value, and adding the second target lane data into the three-dimensional corrected target data to obtain third target data.
2. The method of claim 1, further comprising:
acquiring fourth target data through a millimeter wave radar configured in the target correction system, and acquiring fifth target data through a laser radar configured in the target correction system;
and fusing the third target data, the fourth target data and the fifth target data to obtain sixth target data.
3. The method of claim 1, wherein the two-dimensional target data comprises two-dimensional coordinates of a target, and the two-dimensional lane line data comprises two-dimensional coordinates of a lane line;
the three-dimensional object data includes three-dimensional coordinates of an object, and the three-dimensional lane line data includes three-dimensional coordinates of a lane line.
4. The method of claim 3, wherein the correcting the two-dimensional target data and the two-dimensional lane line data based on the two-dimensional lane line data and a preset two-dimensional coordinate true value of a lane line to obtain two-dimensional corrected target data and two-dimensional corrected lane line data comprises:
calculating an error between the two-dimensional coordinate of the lane line and a truth value of the two-dimensional coordinate of the lane line based on a preset equation to obtain an error curve;
and correcting the two-dimensional coordinates of the target and the two-dimensional coordinates of the lane line according to the error curve to obtain the two-dimensional coordinates of the corrected target and the two-dimensional coordinates of the corrected lane line.
5. The method of claim 4, wherein said determining first target lane data based on said two-dimensional corrected target data and said lane line two-dimensional coordinate true value, adding said first target lane data to said two-dimensional corrected target data to obtain second target data comprises;
judging the position relation between the target and the lane line according to the corrected two-dimensional coordinate of the target and the truth value of the two-dimensional coordinate of the lane line, and determining the data of the lane where the target is located;
and adding the data of the lane where the target is located into the two-dimensional correction target data to obtain second target data.
6. The method of claim 3, wherein the correcting the three-dimensional target data and the three-dimensional lane line data based on the three-dimensional lane line data and a preset three-dimensional coordinate true value of a lane line to obtain three-dimensional corrected target data and three-dimensional corrected lane line data comprises:
calculating an error between the three-dimensional coordinate of the lane line and a true value of the three-dimensional coordinate of the lane line based on a preset equation to obtain an error curve;
and correcting the three-dimensional coordinates of the target and the three-dimensional coordinates of the lane line according to the error curve to obtain the three-dimensional coordinates of the corrected target and the three-dimensional coordinates of the corrected lane line.
7. The method of claim 6, wherein said determining second target lane data based on said three-dimensional corrected target data and said lane line three-dimensional coordinate truth value, adding said second target lane data to said three-dimensional corrected target data to obtain third target data comprises;
judging the position relation between the target and the lane line according to the corrected three-dimensional coordinate of the target and the three-dimensional coordinate truth value of the lane line, and determining the data of the lane where the target is located;
and adding the data of the lane where the target is located into the three-dimensional correction target data to obtain third target data.
8. An object correction device, characterized by comprising:
the first acquisition module is used for acquiring two-dimensional target data and two-dimensional lane line data through a camera configured in the target correction system;
the first correction module is used for correcting the two-dimensional target data and the two-dimensional lane line data based on the two-dimensional lane line data and a preset two-dimensional coordinate true value of the lane line to obtain two-dimensional corrected target data and two-dimensional corrected lane line data;
the first determining module is used for determining first target lane data based on the two-dimensional corrected target data and the truth value of the two-dimensional coordinate of the lane line, and adding the first target lane data into the two-dimensional corrected target data to obtain second target data;
the coordinate conversion module is used for carrying out coordinate system conversion on the second target data and the two-dimensional corrected lane line data to obtain three-dimensional target data and three-dimensional lane line data;
the second correction module is used for correcting the three-dimensional target data and the three-dimensional lane line data based on the three-dimensional lane line data and a preset three-dimensional coordinate true value of the lane line to obtain three-dimensional corrected target data and three-dimensional corrected lane line data;
and the second determining module is used for determining second target lane data based on the three-dimensional corrected target data and the true value of the three-dimensional coordinate of the lane line, and adding the second target lane data into the three-dimensional corrected target data to obtain third target data.
9. A target correction system is characterized by comprising a road end sensing device and a storage device;
the road end sensing device comprises a camera, a millimeter wave radar and a laser radar, wherein the camera is used for acquiring two-dimensional target data, the millimeter wave radar is used for acquiring fourth target data, and the laser radar is used for acquiring fifth target data;
the storage device is used for storing a preset two-dimensional coordinate true value and a preset three-dimensional coordinate true value of the lane line.
10. A computer storage medium, wherein at least one instruction or at least one program is stored, which is loaded and executed by a processor to implement the object correction method according to any one of claims 1 to 7.
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