Unmanned vehicle, and unmanned vehicle positioning method, device and system

Abstract

The invention discloses an unmanned vehicle and an unmanned vehicle positioning method, device and system. The method comprises that first laser point-cloud reflection value data which matches the present position of the unmanned vehicle is obtained, and the first laser point cloud reflection value data comprises first coordinates of laser points and laser reflection intensity values corresponding to the laser points; the first laser point cloud reflection value data is converted to laser point cloud projection data in a horizontal plane; a first matching probability of the laser point cloud projection data within a predetermined range in the laser point cloud reflection value map is determined by taking the pre-determined position of a prior positioning position in a laser point cloud reflection value map as an initial position; and the position of the unmanned vehicle in the laser point cloud reflection value map is determined on the basis of the first matching probability. Thus, the present position of the unmanned vehicle can be positioned accurately.

Description

technical field [0001] The present application relates to the technical field of vehicle engineering, specifically to the field of unmanned vehicles, especially to unmanned vehicles, unmanned vehicle positioning methods, devices and systems. Background technique [0002] Unmanned vehicle (hereinafter referred to as unmanned vehicle) is a modern vehicle that can perceive its surrounding environment, make decisions and judge the scene, and control it without manual control. [0003] The positioning system plays a pivotal role in the process of autonomous driving of unmanned vehicles. Other modules, such as perception and path planning, perform corresponding operations based on the positioning results generated by the positioning system to varying degrees. The accuracy of positioning is one of the keys that directly affects the success or failure of unmanned vehicles. [0004] In the prior art, the position of the unmanned vehicle is mainly determined by GPS (Global Positioni...

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Problems solved by technology

[0005] However, the existing real-time differential positioning method will generate large positioning errors when the GPS satellite signal is blocked or the multipath effect is strong in a complex environment, and cannot provide high-precision and high-stability positioning results.

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