To provide a method and an apparatus for positioning an autonomous vehicle.SOLUTION: A method includes: matching a current point cloud projected image of a first resolution with a map of the first resolution to generate a first histogram filter; determining at least two first response areas in the first histogram filter on the basis of a probability value of an element in the first histogram filter, where the probability value of the element corresponding to the first response area is greater than a probability value of another element in the first histogram filter; generating a second histogram filter on the basis of a result of matching a current point cloud projected image of a second resolution with a map of the second resolution and on the basis of the at least two first response areas; and calculating a weighted average of probability values of target elements in the second histogram filter to determine a positioning result of the autonomous vehicle in the map of the second resolution, the second resolution being greater than the first resolution.SELECTED DRAWING: Figure 2

    【課題】無人車を測位するための方法及び装置を提供する。【解決手段】方法は、第一の解像度の現在の点群投影画像と第一の解像度の地図とをマッチングし、第一のヒストグラムフィルタを生成することと、第一のヒストグラムフィルタにおける要素の確率値に基づき、第一のヒストグラムフィルタにおいて、第一のレスポンス領域に対応する要素の確率値が、第一のヒストグラムフィルタにおける他の要素の確率値より大きい少なくとも2つの第一のレスポンス領域を確定することと、第二の解像度の現在の点群投影画像と第二の解像度の地図とのマッチング結果及び少なくとも2つの第一のレスポンス領域に基づき、第二のヒストグラムフィルタを生成することと、第二のヒストグラムフィルタにおける目標要素の確率値に対して加重平均を行い、第一の解像度より大きい第二の解像度の地図において無人車の測位結果を確定することと、を備える。【選択図】図2


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    Title :

    METHOD AND APPARATUS FOR POSITIONING AUTONOMOUS VEHICLE


    Additional title:

    無人車を測位するための方法及び装置


    Contributors:
    LI HAO (author) / WAN GUOWEI (author) / ZHOU YAO (author) / SONG SHIYU (author) / DONG FANGFANG (author)

    Publication date :

    2020-02-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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