To provide a vehicle positioning method, an apparatus and a vehicle for improving the reliability of positioning.SOLUTION: The vehicle positioning method includes: 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 global attitude angle information and local attitude angle information to obtain a position of the vehicle. The method does not need to highly depend 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 means of compensation processing, such that the determined position of the vehicle has high accuracy and reliability, which improves safety for vehicle traveling.SELECTED DRAWING: Figure 2
【課題】測位の信頼性を向上させるための車両の測位方法、装置及び車両を提供する。【解決手段】車両には高精度地図がないと、車両における全地球航法衛星システム及び/又は慣性計測ユニットに基づいて車両の中間ポーズ情報を取得して、中間ポーズ情報をグローバル測位情報として決定し、ローカル測位情報を取得し、グローバルポーズ情報及びローカルポーズ情報に対して融合処理を行い、融合ポーズ情報を得、グローバル姿勢角情報及びローカル姿勢角情報に基づいて、融合ポーズ情報に対して補正処理を行い、車両の位置を得ることを含み、高精度地図に強く依存する必要がなく、様々なシーンに適用することができ、測位適用の柔軟性及び多様性を向上させ、かつ補正処理の方式により車両の位置を決定し、決定された車両の位置に高い正確性及び信頼性を有させ、車両走行の安全性を向上させる。【選択図】図2
VEHICLE POSITIONING METHOD, APPARATUS, AND AUTONOMOUS DRIVING VEHICLE
車両の測位方法、装置及び自動運転車両
2022-11-01
Patent
Electronic Resource
Japanese
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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