Vehicle positioning method and device, vehicle and storage medium

A vehicle positioning and vehicle technology, applied in the field of automatic driving, can solve the problems of accumulating huge amount of data, complex hardware equipment, difficult map fusion, etc., and achieve the effect of simplifying the complexity of processing algorithms and simplifying the recognition process

Inactive Publication Date: 2020-08-11
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The advantages and disadvantages of visual positioning or lidar indoor positioning technology are very obvious. First, the processor needs to have very powerful computing power, so that it can process huge video data; Diffic

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  • Vehicle positioning method and device, vehicle and storage medium
  • Vehicle positioning method and device, vehicle and storage medium

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Embodiment Construction

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0018] It should be noted that the terms "first", "second", "third" and "fourth" in the specification and claims of the present invention are used to distinguish different objects, not to describe specific order. The terms "including" and "having" and any of their variations in the embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series...

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Abstract

The embodiment of the invention relates to a vehicle positioning method and device, a vehicle and a storage medium. The vehicle positioning method comprises the following steps: identifying a site entrance; obtaining an indoor semantic map of the site according to the site entrance, wherein the indoor semantic map comprises semantic feature points of the site; correcting the positioning information of the vehicle in the indoor semantic map according to the semantic feature points obtained by the vehicle in motion; and acquiring positioning information of the vehicle according to the motion information of the vehicle relative to the previous semantic feature point. Because the selected features are semantic and easy-to-identify features of the road, the data volume of the points in each field is very limited, and the complexity of the processing algorithm is greatly simplified. The invention discloses a method for identifying points. The method is mainly used for identifying the physical quantities of the vehicle during running, the physical quantities are obtained by operation of other parts of the vehicle, and the identification process is correspondingly simplified greatly. For example, the slope-entering point can be identified based on posture and IMU, deceleration strips can be recognized by speed and IMU, and road joints can be identified by steering wheel and IMU.

Description

Technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a vehicle positioning method and device, a vehicle, and a storage medium. Background technique [0002] The existing positioning technology in automatic driving mainly uses satellite positioning signals for positioning, such as GPS (Global Positioning System, Global Positioning System) signals or Beidou satellite signals for positioning, but when there is no satellite signal, other methods are needed for positioning. Since there is no satellite signal mainly indoors, such as an underground parking lot, etc., positioning without satellite signals can also be called indoor positioning. [0003] The existing mainstream indoor positioning technology for autonomous driving uses visual acquisition mapping or lidar mapping, and positioning is performed based on the map. The advantages and disadvantages of visual positioning or lidar indoor positioning technology are very obv...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/00G01C21/16G01S19/49
CPCG01C21/206G01C21/005G01C21/165G01S19/49G01C21/3889G01C21/30G01C21/383G01C21/3815G01C21/3685
Inventor 李红军柴文楠刘中元黄亚
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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