The present disclosure provides a vehicle positioning method, an apparatus 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, the method including: 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, and determining the intermediate pose information as global positioning information; acquiring local positioning information; performing fusion processing to the global pose information and the local pose information to obtain fused pose information; performing compensation processing to the fused pose information according to the global attitude angle information and the local attitude angle information to obtain a position of the vehicle. The method is not highly relied on the high-definition map, and can be applied to various scenarios, which improves flexibility and diversity of positioning adaption, and the position of the vehicle is determined through the mean of compensation processing, such that the determined position of the vehicle has relatively high accuracy and reliability, which improves safety for vehicle traveling.
VEHICLE POSITIONING METHOD, VEHICLE POSITIONING APPARATUS, AND AUTONOMOUS DRIVING VEHICLE
FAHRZEUGPOSITIONIERUNGSVERFAHREN, -VORRICHTUNG UND AUTONOM FAHRENDES FAHRZEUG
PROCÉDÉ DE POSITIONNEMENT DE VÉHICULE, APPAREIL ET VÉHICULE DE CONDUITE AUTONOME
2022-10-19
Patent
Electronic Resource
English
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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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