Vehicle positioning method and device, electronic equipment and storage medium

A vehicle positioning and vehicle technology, applied in the fields of devices, storage media, vehicle positioning methods, and electronic equipment, can solve problems such as weak satellite signals, multi-path effects, and unreliable positioning results.

Active Publication Date: 2018-12-21
SHANGHAI WESTWELL INFORMATION & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The first type of GNSS positioning works best in an open environment. In an environment with signal occlusion, weak satellite signals or multi-path effects are likely to occur, resulting in unreliable positioning results.

Method used

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  • Vehicle positioning method and device, electronic equipment and storage medium
  • Vehicle positioning method and device, electronic equipment and storage medium
  • Vehicle positioning method and device, electronic equipment and storage medium

Examples

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Embodiment Construction

[0075] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0076] Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities ...

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Abstract

The invention provides a vehicle positioning method and device, electronic equipment and a storage medium. The vehicle positioning method based on multi-sensor fusion comprises the steps that first-time data fusion is performed through global navigation satellite system data and inertial measurement unit data to form first positioning data of a vehicle; environment matching is performed on laser radar sensor data to generate second positioning data of the vehicle; environment matching is performed on video sensor data to generate third positioning data of the vehicle; and second-time data fusion is performed on the first positioning data, the second positioning data and the third positioning data to output a positioning result of the vehicle. Through the vehicle positioning method and device, the precision of vehicle positioning in a dynamic environment is improved.

Description

technical field [0001] The present invention relates to the field of unmanned driving, in particular to a vehicle positioning method, device, electronic equipment, and storage medium. Background technique [0002] Vehicle positioning is the most basic technical link in the field of automatic driving. Only the prepared positioning results can provide reliable upper-level data guarantee for the automatic control of the vehicle, especially in application scenarios that require high positioning accuracy. Potentially disastrous consequences for the underlying automated control decisions of the vehicle. Vehicle positioning relies on two main methods: the first is the use of global navigation satellite system (GNSS) positioning signals directly generated by navigation satellites, and the second is the surrounding environment captured by on-board sensors, such as LiDAR sensors (LiDAR) and cameras. Localization results that are matched against a pre-established set of environmental ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01S19/47G01S17/87
CPCG01C21/165G01S17/87G01S19/47
Inventor 夏辰江旭辉
Owner SHANGHAI WESTWELL INFORMATION & TECH CO LTD
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