The embodiment of the invention provides a shadow-based vehicle positioning method, and belongs to the technical field of automatic driving. The method comprises the following steps: acquiring a shadow image of a road surface around a current vehicle in a lane with a street lamp; correspondingly obtaining the height and the absolute position of a reference street lamp according to the obtained positioning information, wherein the reference street lamp is a street lamp enabling the current vehicle to form the shadow image; determining the relative position of the vehicle relative to the reference street lamp in combination with the height of the reference street lamp according to the obtained actual shadow boundary of the shadow image of the road surface around the vehicle, wherein the actual shadow boundary is the light and shade boundary in the shadow image; and determining the absolute location of the vehicle according to the absolute position of the reference street lamp and the relative position of the vehicle relative to the reference street lamp. According to the embodiment of the invention, specific street lamp and shadow information under night road conditions (or road conditions with poor illumination conditions) is combined to carry out high-precision vehicle positioning so as to assist automatic driving.

    本发明实施例提供一种基于阴影的车辆定位方法,属于自动驾驶技术领域。该方法包括:在有路灯的车道,获取当前车辆周围路面的阴影图像;根据所获取的定位信息,对应获取参考路灯的高度和绝对位置,所述参考路灯为使所述当前车辆形成所述阴影图像的路灯;根据所获取的车辆周围路面的阴影图像的实际阴影分界线,结合所述参考路灯的高度,确定该车辆相对所述参考路灯的相对位置,其中所述实际阴影分界线为所述阴影图像中明暗交界线;以及根据所述参考路灯的绝对位置以及所述车辆相对参考路灯的相对位置,确定所述车辆的绝对定位。本发明实施例结合夜间路况(或光照条件不好的路况)下特有特的路灯和阴影信息,进行车辆高精度定位以辅助自动驾驶。


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    Title :

    Shadow-based vehicle positioning method and control device storage medium and vehicle


    Additional title:

    基于阴影的车辆定位方法和控制装置、存储介质及车辆


    Contributors:
    LI YANG (author) / DU SIJUN (author) / GAO LEI (author)

    Publication date :

    2021-08-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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