The application discloses a vehicle-infrastructure collaborative positioning method based on multi-view degradation
perception, relates to the technical field of intelligent transportation and automatic driving, and comprises the following steps: acquiring vehicle end
point cloud data, and constructing a vehicle end point-surface residual
error factor; acquiring measurement data of a vehicle-mounted
inertial measurement unit, and constructing an IMU pre-integration factor through mechanical arrangement; acquiring roadside
point cloud data, constructing a roadside residual error based on the roadside
point cloud data and the vehicle end point
cloud data, and constructing a roadside DICP factor; constructing a
factor graph model based on the vehicle end point-surface residual
error factor, the IMU pre-integration factor and the roadside DICP factor, updating the
pose information of a vehicle, and obtaining a positioning result. The application can effectively overcome the defects of drift and unstable registration caused by the insufficient
observability of a
laser radar in a degradation scene, solve the problems of high
delay and insufficient constraints of multi-view vehicle-road collaborative positioning, and realize long-time, stable and high-precision real-time positioning in a complex traffic environment.