The invention relates to the technical field of auxiliary driving, and provides a vehicle pose adjusting method and device. The method comprises the following steps: acquiring a point cloud image acquired by a laser radar passing through a target vehicle; according to a point cloud coordinate set of a lane line point cloud corresponding to the lane line in a radar coordinate system in the point cloud image, converting the lane line point cloud from the radar coordinate system to a global coordinate system, and obtaining a current coordinate set of the lane line in the global coordinate system; and adjusting the current pose of the target vehicle according to the current coordinate set of the lane line in the global coordinate system and the prior coordinate set of the lane line in the global coordinate system. According to the vehicle pose adjustment method provided by the embodiment of the invention, the accuracy of vehicle pose adjustment can be improved.

    本申请涉及辅助驾驶技术领域,提供一种车辆位姿调整方法及装置。所述方法包括:获取通过目标车辆的激光雷达采集到的点云图像;根据点云图像中,对应于车道线的车道线点云在雷达坐标系下的点云坐标集,将车道线点云从雷达坐标系转换至全局坐标系,得到车道线在全局坐标系下的当前坐标集;根据车道线在全局坐标系下的当前坐标集,以及车道线在全局坐标系下的先验坐标集,调整目标车辆的当前位姿。本申请实施例提供的车辆位姿调整方法能够提高车辆位姿调整的准确度。


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    Title :

    Vehicle pose adjusting method and device


    Additional title:

    车辆位姿调整方法及装置


    Contributors:
    DAI YULU (author) / WU JICHAO (author) / YAN KUN (author) / GU SHUAI (author)

    Publication date :

    2025-01-21


    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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