The present disclosure provides a method and an apparatus for positioning a vehicle and an autonomous driving vehicle, relating to autonomous driving in the technical field of artificial intelligence, which can be applied to high-definition positioning of the autonomous driving vehicle, wherein the method comprises the steps of: if there is no high-definition map in a vehicle, acquiring intermediate pose information of the vehicle based on a global navigation satellite system and/or an inertial measurement unit in the vehicle; determining intermediate pose information as global positioning information to acquire local positioning information; performing fusion processing with respect to global pose information and the local pose information to obtain fused pose information; performing compensation processing to the fused pose information according to global attitude angle information and local attitude angle information to obtain a position of the vehicle. The method is appliable to various scenarios without being highly relied on the high-definition map, improves flexibility and diversity of positioning adaption, and determines the position of the vehicle through the manner of compensation processing to make a determined position of the vehicle higher accuracy and reliability, thereby improving safety for vehicle traveling.

    본 출원은 차량 포지셔닝 방법, 장치 및 자율 운전 차량을 제공하며, 인공지능 기술분야 중의 자율 운전에 관한 것으로서, 자율 운전하는 차량에 대한 고정밀 포지셔닝에 적용될 수 있으며, 차량에 고정밀 맵이 존재하지 않으면, 차량의 글로벌 항법 위성 시스템 및/또는 관성 측정 유닛을 기반으로 차량의 중간 포즈 정보를 획득하고, 중간 포즈 정보를 글로벌 포지셔닝 정보로서 결정하여, 로컬 포지셔닝 정보를 획득하고, 글로벌 포즈 정보와 로컬 포즈 정보에 대해 융합 처리를 수행하여 융합 포즈 정보를 획득하고, 글로벌 자세각 정보와 로컬 자세각 정보를 기초로, 융합 포즈 정보에 대해 보상 처리를 수행하여, 차량의 위치를 획득하는 것을 포함하며, 고정밀 맵에 고도로 의존할 필요가 없이, 다양한 시나리오에 적용될 수 있으며, 포지셔닝 적용의 유연성과 다양성을 향상시키고, 보상 처리의 방식을 통해 차량의 위치를 결정함으로써, 결정되는 차량의 위치가 보다 높은 정확성과 신뢰성을 구비하여, 차량 주행의 안전성을 향상시킨다.


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    Titel :

    VEHICLE POSITIONING METHOD APPARATUS AND AUTONOMOUS DRIVING VEHICLE


    Weitere Titelangaben:

    차량 포지셔닝 방법, 장치 및 자율 운전 차량


    Beteiligte:
    HOU SHENHUA (Autor:in) / HE YUZHE (Autor:in) / PENG LIANG (Autor:in) / WAN GUOWEI (Autor:in)

    Erscheinungsdatum :

    27.04.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G07C TIME OR ATTENDANCE REGISTERS , Zeit- oder Anwesenheitskontrollgeräte



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