Lane-level positioning method and system, computer equipment, vehicle and storage medium

Abstract

The invention relates to a lane-level positioning method and system, computer equipment, a vehicle and a storage medium. The method comprises the following steps of obtaining initial position information of the vehicle in real time according to a front road image and absolute position information of the vehicle and high-precision map data; extracting a first lane element from the front road image,wherein the initial position information at least comprises a second lane element corresponding to the first lane element; and obtaining coordinate information of the first lane element and coordinate information of the second lane element, and determining whether the initial position information is final vehicle positioning information or not according to a matching result of the coordinate information of the first lane element and the coordinate information of the second lane element. The system, the computer equipment and the storage medium are carriers for implementing the method, and thevehicle comprises the system and the computer equipment. The method can improve the positioning reliability of the automatic driving lane level.

Description

Technical field [0001] The invention relates to the technical field of vehicle positioning during automatic driving, and in particular to a lane-level positioning method and system, computer equipment, vehicles, and storage media during vehicle driving. Background technique [0002] As the number of cars continues to increase, road safety issues have become more prominent and cannot be ignored. Therefore, advanced driver assistance systems have become a research hotspot. Because traditional GPS positioning technology has large errors and cannot meet high-precision positioning requirements, a lane-level positioning system for autonomous vehicles has emerged. [0003] At present, there are many lane-level positioning system solutions for autonomous vehicles, most of which focus on the development of a single technology, but few consider the needs of supporting mass production, high reliability and low cost. For example, high-precision positioning differential service and high-cost i...

AI Technical Summary

Problems solved by technology

Due to the large error of the traditional GPS positioning technology, it cannot meet the high-precision positioning requirements, so the lane-level positioning system for autonomous vehicles came into being

[0003] For now, there are many lane-level positioning system solutions for autonomous vehicles, most of which focus on the development of a single technology, but less consideration is given to the needs of supporting mass production, high reliability and low cost

For example, high-precision positioning differential services and high-cost inertial navigation. This high-precision absolute positioning solution is currently costly and cannot be applied to mass-produced autonomous vehicles in a short time; another example is multi-beam laser radar and high-precision map self-positioning solutions. The cost of lidar is too high to be applied in mass-produced self-driving vehicles in a short time

[0004] In summary, the existing lane-level positioning technology for autonomous vehicles still needs to be further improved.

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