Local positioning correction method based on road traffic marking signs, and equipment and medium

Abstract

The invention provides a local positioning correction method based on road traffic marking signs. The local positioning correction method comprises the following steps of: acquiring an initial positioning result measured by means of initial positioning equipment; intercepting a corresponding local point cloud map from a preset traffic marking sign point cloud chart as a target point cloud according to the initial positioning result; acquiring a real-time traffic marking sign point cloud according to a traffic marking sign image on a road near a vehicle body obtained in real time; comparing thereal-time traffic marking sign point cloud with the target point cloud, and registering the real-time traffic marking sign point cloud with the target point cloud according to a preset point cloud registration algorithm when deviation occurs, so as to obtain a point cloud conversion matrix; and converting the initial positioning result according to the point cloud conversion matrix to obtain a corrected positioning result, and reinitializing the initial positioning equipment according to the corrected positioning result. According to the local positioning correction method based on the road traffic marking signs, the stability and precision of the whole positioning process are guaranteed, and manual maintenance of a reference object is not needed.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning, in particular to a local positioning correction method, equipment and medium based on road traffic markings. Background technique [0002] With the expansion of application scenarios of self-driving vehicles, autonomous positioning, as one of the foundations for the operation of self-driving vehicles, has higher and higher requirements for accuracy and stability. [0003] In the existing technology, real-time positioning is mainly achieved by fusing inertial navigation data with lidar or GPS equipment. However, positioning deviations may occur in some scenarios. Position drift. Therefore, the traditional real-time positioning will have the problem of inaccurate positioning in practical applications. Contents of the invention [0004] In order to overcome the deficiencies of the prior art, one of the objectives of the present invention is to provide a local positioning corre...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies of the prior art, one of the objectives of the present invention is to provide a local positioning correction method based on road traffic markings, which can solve the problem of inaccurate positioning in the actual application of traditional real-time positioning

[0005] The second object of the present invention is to provide an electronic device, which can solve the problem of inaccurate positioning in practical applications of traditional real-time positioning

[0006] The third object of the present invention is to provide a computer-readable storage medium, which can solve the problem of inaccurate positioning in practical applications of traditional real-time positioning

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