The invention discloses a vehicle positioning method and device based on a high-precision map and a visual perception result, and the method comprises the steps: determining the current position, the current pose, the current lane line information of a driving road, and the current reference object information in the driving process of a target vehicle; acquiring multiple groups of calibration lane line information and multiple groups of calibration reference object information associated with the current position; determining a transverse position deviation and a course angle deviation of the target vehicle based on the current pose, the current lane line information and the multiple groups of calibration lane line information; based on the current pose, the current reference object information and the multiple sets of calibration reference object information, the longitudinal position deviation of the target vehicle is determined; based on the transverse position deviation, the course angle deviation and the longitudinal position deviation, the pose of the target vehicle is adjusted, the current pose can be adjusted in real time, adjustment of the vehicle pose is efficiently and accurately achieved, and a positioning result with lane-level precision is provided.
本发明公开了一种基于高精地图和视觉感知结果的车辆定位方法及装置,在目标车辆行驶的过程中,确定当前位置、当前位姿、所属行驶道路的当前车道线信息和当前参照对象信息;获取与当前位置相关联的多组标定车道线信息和多组标定参照对象信息;基于当前位姿、当前车道线信息以及多组标定车道线信息,确定目标车辆的横向位置偏差和航向角偏差;基于当前位姿、当前参照对象信息以及多组标定参照对象信息,确定目标车辆的纵向位置偏差;基于横向位置偏差、航向角偏差和纵向位置偏差,对目标车辆的位姿进行调整,本申请可以实时的对当前位姿进行调整,高效、精准的实现了对车辆位姿的调整,并且提供车道级精度的定位结果。
Vehicle positioning method and device based on high-precision map and visual perception result
一种基于高精地图和视觉感知结果的车辆定位方法及装置
2024-06-07
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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