The embodiment of the invention provides a vehicle positioning method and device, equipment and a storage medium, and the method comprises the steps: collecting an image through a camera, and enabling the image to comprise traffic lights; obtaining the vertical distance between the camera and the traffic light according to the position coordinates of the traffic light at the plurality of first preset points on the image, the focal length of the camera and the light source diameter; based on the position coordinates of the plurality of first preset points and the plurality of spatial position coordinates of the traffic light, calculating projection coordinates of the camera on a plane where the traffic light is located; and positioning the vehicle according to the spatial position coordinate of the camera, wherein the spatial position coordinate of the camera is obtained according to the vertical distance, the projection coordinate and the spatial position coordinate of the traffic light. According to the embodiment of the invention, the traffic light information generally existing in urban roads is utilized, and the low-cost camera is combined, so that the positioning cost is remarkably reduced, good positioning precision can be ensured, and automatic driving positioning can be realized in a high-speed scene without depending on a high-precision map.

    本申请实施例提供了一种车辆定位方法、装置、设备和存储介质,通过摄像头采集图像,图像中包含红绿灯;根据红绿灯在图像上若干个第一预设点的位置坐标、摄像头的焦距以及光源直径,得到摄像头与红绿灯的垂直距离;基于若干个第一预设点的位置坐标以及红绿灯的若干个空间位置坐标,计算得到摄像头在红绿灯所处的平面上的投影坐标;根据摄像头的空间位置坐标对车辆进行定位,摄像头的空间位置坐标为根据垂直距离、投影坐标与红绿灯的空间位置坐标得到。本申请实施例通过利用城市道路中普遍存在的红绿灯信息,结合低成本摄像头,不仅显著降低了定位成本,还能确保良好的定位精度,无需依赖高精度地图即可在高速场景下实现自动驾驶定位。


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    Title :

    Vehicle positioning method, device and equipment and storage medium


    Additional title:

    一种车辆定位方法、装置、设备和存储介质


    Contributors:
    LI YILEI (author) / ZHANG QING (author)

    Publication date :

    2025-01-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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