Vehicle positioning method, device and intelligent vehicle
A vehicle positioning and target vehicle technology, applied in the field of unmanned driving, can solve the problems of low technical positioning accuracy and inability to meet unmanned driving, and achieve the effect of improving accuracy
Active Publication Date: 2020-05-05
中智行(上海)交通科技有限公司
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Problems solved by technology
[0003] Existing positioning methods usually use a single technology for positioning. However, in some special scenarios, such as environments containing multiple dynamic targets such as vehicles, pedestrians, and obstacles, the accuracy of positioning using a single technology is low and cannot Meet the needs of unmanned driving and other fields that require precise positioning
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[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.
[0066] Embodiments of the present invention provide a vehicle positioning method and device.
[0067] Among them, the vehicle positioning device (hereinafter referred to as the positioning device) can be integrated in the terminal, and the terminal can include mobile phones, personal computers and smart vehicles. The smart vehicle is a comprehensive system that integrates environmental perception, planning and decision-making, and multi-level assisted driving. The system, whic...
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The embodiment of the present invention discloses a vehicle positioning method, device and intelligent vehicle, wherein the vehicle positioning method includes: receiving the real-time point cloud data corresponding to the target vehicle when the target vehicle is driving in the target area reported by the sensing device; Perform data segmentation on the data to obtain static environment data corresponding to the target area and target motion data corresponding to the target vehicle; acquire initial image data corresponding to the target area from a local database, and the initial image data includes a plurality of sub-images data; according to the association relationship between the sub-image data, construct a reference point cloud map corresponding to the target area; based on the static environment data and target motion data, determine the position of the target vehicle on the reference point cloud map , therefore, the accuracy of vehicle localization can be improved.
Description
technical field [0001] The invention relates to the field of unmanned driving technology, in particular to a vehicle positioning method, device and intelligent vehicle. Background technique [0002] Positioning technology is one of the core technologies of the unmanned vehicle automatic driving system, and the positioning output is the key input for operations such as perception and path planning in the unmanned driving system. Positioning technology needs to have high precision, high reliability, high availability and strong continuity to meet the needs of unmanned vehicle application scenarios. [0003] Existing positioning methods usually use a single technology for positioning. However, in some special scenarios, such as environments containing multiple dynamic targets such as vehicles, pedestrians, and obstacles, the accuracy of positioning using a single technology is low and cannot Meet the needs of unmanned driving and other fields that require precise positioning. ...
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IPC IPC(8): G06F16/29G06T5/50G06T7/10G06T7/246
CPCG06F16/29G06T5/50G06T7/10G06T7/248G06T2207/10028
Inventor 巫远王劲
Owner 中智行(上海)交通科技有限公司