Method and apparatus for determining vehicle three-dimensional coordinate true value, device, medium, and vehicle

An apparatus for determining a vehicle three-dimensional coordinate true value, wherein, in an initial state, each of a main acquisition vehicle and an auxiliary acquisition vehicle is located at an initial point, and a vehicle-side sensor of each of the main acquisition vehicle and the auxiliary acquisition vehicle faces front of the vehicle;

• when the auxiliary acquisition vehicle travels forward, the main acquisition vehicle is stationary, and the vehicle-side sensors of the main acquisition vehicle and the auxiliary acquisition vehicle simultaneously acquire sensed data packets in a preset duration each time the auxiliary acquisition vehicle travels by a preset interval distance and stops;
• when the auxiliary acquisition vehicle stops for K times, the auxiliary acquisition vehicle continues to travel to a preset distance position and stops, in this case, the vehicle-side sensors of the main acquisition vehicle and the auxiliary acquisition vehicle simultaneously acquire the sensed data packets in the preset duration, and the apparatus comprises:
• an obtaining module configured to:
• obtain K sets of ego vehicle position information acquired by an inertial sensor of the auxiliary acquisition vehicle during K stops and K sets of main sensed data packets acquired by the main acquisition vehicle during K stops, wherein K is greater than a preset number of times, each set of main sensed data packets is formed by sensed data with a plurality of timestamp frames, the sensed data of each timestamp frame comprises three-dimensional coordinate information of a sensed vehicle, and the sensed vehicle comprises at least the auxiliary acquisition vehicle;
• a coordinate transformation matrix determination module configured to:
• calculate a coordinate transformation matrix between a startup vehicle coordinate system of the main acquisition vehicle and a startup vehicle coordinate system of the auxiliary acquisition vehicle based on the K sets of ego vehicle position information and the K sets of main sensed data packets, wherein the startup vehicle coordinate system refers to a vehicle coordinate system that uses a position, where an on-board computer of the vehicle is started up, as a coordinate system origin;
• and
• a first coordinate true value determination module configured to:
• calculate projection coordinate information of the auxiliary acquisition vehicle in the vehicle coordinate system of the main acquisition vehicle based on the coordinate transformation matrix and ego vehicle position information acquired by the inertial sensor of the auxiliary acquisition vehicle at the preset distance position;
• and taking the projection coordinate information as a three-dimensional coordinate true value of the auxiliary acquisition vehicle, wherein a distance between the preset distance position and the main acquisition vehicle is greater than a preset distance threshold.