A Vehicle Positioning Method, Device, Equipment and Medium for Complex Environments

Abstract

The present invention discloses a vehicle positioning method, device, equipment and medium for complex environments, including the steps of: obtaining ground-received satellite positioning information, where the ground-received satellite positioning information includes the intensity of the ground-received satellite positioning information; determining whether the intensity of the ground-received satellite positioning information is greater than a preset information intensity; if so, obtaining the current visual information of the vehicle; comparing the current visual information of the vehicle with a preset image information map to determine the vehicle positioning; if not, obtaining the current geological information of the vehicle; comparing the current geological information of the vehicle with a preset geological feature map to determine the vehicle positioning; the beneficial effects are as follows: the positioning method is selected according to the satellite positioning information, and the current positioning is determined through the geological information without being affected by the environment, and it can work all day long; moreover, the detection medium hardly changes, and the detected map can be used for a long time without frequent updates.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and specifically to a vehicle positioning method, device, equipment and medium for complex environments. Background Art

[0002] Currently, autonomous driving mainly uses vision and satellite positioning technologies to achieve. The current vision and positioning solutions cannot work 24 hours a day. For autonomous driving mainly based on lidar and cameras, due to a working mode similar to that of the human eye, the actual road conditions cannot be judged in rainy, snowy or foggy weather. Moreover, vision-related technologies are very vulnerable to deception by false targets (false traffic lights, false people, etc.), which is likely to cause safety accidents. Secondly, satellite positioning technology can accurately determine the position of a vehicle in areas with good satellite information. However, it is also likely to cause safety accidents when encountering scenarios with poor satellite information and unable to meet high-precision positioning requirements, especially when the vehicle is driving in some special areas, such as mountains, deserts and uninhabited areas, where the weather is extremely unstable, resulting in inaccurate satellite positioning. Summary of the Invention

[0003] In order to overcome the drawbacks and deficiencies of the prior art, the present invention discloses a vehicle positioning method for complex environments, which can work all-weather without being affected by the weather environment and ensure stable operation even when the satellite signal is weak. The method includes the steps of:

[0004] Obtain ground-received satellite positioning information, where the ground-received satellite positioning information includes the intensity of the ground-received satellite positioning information;

[0005] Judge whether the intensity of the ground-received satellite positioning information is greater than a preset information intensity;

[0006] If so, obtain the current visual information of the vehicle;

[0007] Compare the current visual information of the vehicle with a preset image information map to determine the vehicle position;

[0008] If not, obtain the current geological information of the vehicle;

[0009] Compare the current geological information of the vehicle with a preset geological feature map to determine the vehicle position.

[0010] Furthermore, the preset image information map is a high-precision map;

[0011] The high-precision map at least includes image lane line information and image traffic sign information;

[0012] Furthermore, the step of comparing the current visual information of the vehicle with a preset image information map to determine the vehicle position includes the steps of:

[0013] The ground received satellite positioning information further includes regional positioning information;

[0014] Obtain a high-precision map of the area where the vehicle is located according to the regional positioning information. The high-precision map of the area where the vehicle is located at least includes map lane line information and map traffic sign information;

[0015] Locate the positions of the map lane line information and the map traffic sign information that match the image lane line information and the image traffic sign information on the high-precision map to determine the vehicle positioning.

[0016] Furthermore, the geological information is obtained by scanning the road bottom layer with an electromagnetic wave sounding sensor installed on the vehicle.

[0017] Furthermore, the preset geological feature map is obtained by scanning the road bottom layer;

[0018] The step of comparing the current geological information of the vehicle with the preset geological feature map to determine the vehicle positioning includes:

[0019] Determine the area where the vehicle is located according to the ground received satellite positioning information;

[0020] Determine the preset geological feature map area according to the area where the vehicle is located;

[0021] Obtain the first geological feature parameter according to the current geological information of the vehicle;

[0022] Determine the second geological feature parameter that matches the first geological feature parameter in the preset geological feature map area;

[0023] Determine the position of the second geological feature parameter in the preset geological feature map area to determine the vehicle positioning.

[0024] Furthermore, the step of determining the second geological feature parameter that matches the first geological feature parameter in the preset geological feature map area includes:

[0025] Obtain geological feature parameters at multiple different positions in the preset geological feature map area;

[0026] Select the geological feature parameter with the smallest error from the first geological feature parameter among the multiple geological feature parameters;

[0027] Determine the geological feature parameter with the smallest error from the first geological feature parameter as the second geological feature parameter.

[0028] Furthermore, the geological feature parameter at least includes the position of at least one of the rock layer, pipeline and plant root system of the road bottom layer.

[0029] On the other hand, the present application also provides a vehicle positioning device for complex environments, including:

[0030] Satellite positioning information acquisition module: used to receive satellite positioning information on the ground, and the ground-received satellite positioning information includes the intensity of the ground-received satellite positioning information;

[0031] Judgment module: used to judge whether the intensity of the ground-received satellite positioning information is greater than a preset information intensity;

[0032] Visual information acquisition module: used to acquire the current visual information of the vehicle when the intensity of the ground-received satellite positioning information is greater than the preset information intensity;

[0033] Visual positioning module: used to compare the current visual information of the vehicle with a preset image information map to determine the vehicle's position;

[0034] Geological information acquisition module: used to acquire the current geological information of the vehicle when the intensity of the ground-received satellite positioning information is less than or equal to the preset information intensity;

[0035] Geological positioning module: used to compare the current geological information of the vehicle with a preset geological feature map to determine the vehicle's position.

[0036] In a third aspect, the present application also provides an electronic device, which includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle positioning method for complex environments as described above.

[0037] In a fourth aspect, the present application also provides a computer-readable storage medium. At least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and the at least one instruction, at least one program, the code set or the instruction set is loaded and executed by a processor to implement a vehicle positioning method for complex environments as described above.

[0038] Implementing the present invention has the following beneficial effects:

[0039] 1. Select the positioning method according to the situation of the ground-received satellite positioning information. When the intensity of the ground-received satellite positioning information is sufficient, select the satellite positioning information and visual positioning information with high positioning accuracy for positioning; on the contrary, determine the vehicle's position through geological information. Determining the current position through geological information is not affected by the weather environment and can work all day long; and the detection medium hardly changes, and the detected map can be used for a long time without frequent updates.

[0040] 2. Install an electromagnetic wave ground-penetrating sensor at the bottom of the vehicle to scan the underlying road. This has the least impact during the vehicle's operation, can comprehensively scan the underlying road, and scanning the underlying road with an electromagnetic wave ground-penetrating sensor has a lower cost and more mature technology compared to scanning the road with a lidar.

[0041] 3. To scan the underlying road, only an electromagnetic wave ground-penetrating sensor needs to be set at the bottom of the vehicle. It has strong compatibility and can be applied to any vehicle. Description of the Drawings

[0042] To more clearly illustrate the technical solutions of the present invention, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0043] Figure 1 It is a flowchart of a vehicle positioning method for a complex environment provided by an embodiment of the present invention;

[0044] Figure 2 It is a flowchart of a method for determining vehicle positioning according to geological information provided by an embodiment of the present invention;

[0045] Figure 3 It is a flowchart of a method for determining a second geological feature parameter provided by an embodiment of the present invention;

[0046] Figure 4 It is a structural block diagram of a vehicle positioning device for a complex environment provided by an embodiment of the present invention. Detailed Embodiments

[0047] To enable those skilled in the art to better understand the technical solutions in this application, the following will clearly and completely describe the technical solutions in the embodiments of this application in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, rather than all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0048] Embodiment

[0049] The conventional vehicle positioning method is based on the satellite positioning system. The satellite transmits positioning information to the ground, so that the vehicle can obtain the positioning information. Or through the visual positioning system, the current position of the vehicle is judged by vision to determine the current vehicle positioning. However, when encountering extreme weather, such as heavy snow, the lidar and visual perception systems of the satellite positioning system and the visual positioning system can basically not work properly. The navigation system cannot receive accurate satellite positioning signals due to the occlusion of rain, snow and clouds, resulting in inaccurate positioning. Especially for vehicles that need to work in complex terrains for a long time, a vehicle positioning method that is not affected by weather conditions is required.

[0050] In this embodiment, the present invention is provided with three systems for vehicle positioning, namely a satellite positioning system, a visual positioning system, and a geological feature positioning system. The technical problem that can be solved is that it can be not affected by the weather environment, can judge and select a suitable positioning system according to the weather conditions, and can work all-weather, ensuring stable operation even when the satellite signal is weak, such as Figure 1 As shown, the method includes the steps:

[0051] S1: Obtain the satellite positioning information received by the ground. The satellite positioning information received by the ground includes the intensity of the satellite positioning information received by the ground;

[0052] The satellite positioning information received by the ground is the satellite positioning information received by the ground. When the weather conditions are bad, the intensity of the satellite positioning information received by the ground is weaker than that of the satellite positioning information received by the ground under normal weather. Therefore, the satellite positioning information received by the ground includes the intensity of the satellite positioning information received by the ground, and the current weather conditions are judged by the intensity of the satellite positioning information received by the ground.

[0053] S2: Judge whether the intensity of the satellite positioning information received by the ground is greater than the preset information intensity;

[0054] When the intensity of the satellite positioning information received by the ground is greater than the preset information intensity, it indicates that the current weather conditions are good, and positioning can be carried out through the satellite positioning system; when the intensity of the satellite positioning information received by the ground is less than or equal to the preset information intensity, it indicates that the current weather conditions are not suitable for positioning through the satellite positioning system.

[0055] S3: If so, obtain the current visual information of the vehicle;

[0056] S4: Compare the current visual information of the vehicle with the preset image information map to determine the vehicle positioning;

[0057] When the intensity of the satellite positioning information received on the ground is greater than the preset information intensity, it indicates that positioning can be performed through the satellite positioning system. However, to ensure the positioning accuracy, it is necessary to obtain the current visual information of the vehicle, compare the current visual information of the vehicle with the preset image information map, and determine the vehicle positioning. When the intensity of the satellite positioning information received on the ground is greater than the preset information intensity and the weather conditions are good, the visual positioning system can also be used normally. The satellite positioning system and the visual positioning system are used simultaneously to ensure the positioning accuracy.

[0058] S5: If not, obtain the current geological information of the vehicle;

[0059] S6: Compare the current geological information of the vehicle with the preset geological feature map to determine the vehicle positioning;

[0060] When the intensity of the satellite positioning information received on the ground is less than or equal to the preset information intensity, it indicates that the current weather is not suitable for positioning through the satellite positioning system or the visual positioning system. Obtain the current geological information of the vehicle, compare the current geological information of the vehicle with the preset geological feature map to determine that the positioning is not affected by the weather, the detection medium hardly changes, the preset geological feature map after detection can be used for a long time without frequent updating, and the cost of geological positioning is relatively lower than that of lidar positioning and the technology is more mature.

[0061] Preferably, the preset image information map is a high-precision map;

[0062] The high-precision map at least includes image lane line information and image traffic sign information; when positioning through the visual positioning system, the road conditions are photographed by a camera or scanned by a lidar to obtain the lane line information and traffic sign information of the road, or other objects that can represent geographical location references, such as buildings, etc. Compare the lane line information and traffic sign information with the image lane line information and image traffic sign information in the high-precision map that match them, and determine the position of the high-precision map where the image lane line information and image traffic sign information are located to determine the current vehicle positioning.

[0063] Furthermore, comparing the current visual information of the vehicle with the preset image information map to determine the vehicle positioning includes the steps of:

[0064] The satellite positioning information received on the ground also includes regional positioning information;

[0065] Obtain the high-precision map of the area where the vehicle is located according to the regional positioning information. The high-precision map of the area where the vehicle is located at least includes map lane line information and map traffic sign information;

[0066] Find the positions of the map lane line information and map traffic sign information that match the image lane line information and image traffic sign information on the high-precision map to determine the vehicle positioning.

[0067] Specifically, geological information is obtained by scanning the road bed through an electromagnetic wave subsurface sensor installed on the vehicle. The electromagnetic wave subsurface sensor is installed at the bottom of the vehicle, which can better scan the road bed, is minimally affected during the vehicle's operation, has high compatibility with the vehicle, and can be installed on any vehicle, not limited to vehicles for working in complex terrains. Similar to the visual positioning system, the visual positioning system needs to collect road information in advance and then generate a high-precision map. This technical solution requires prior subsurface scanning of the road. After scanning, the system will generate a feature map of the subsurface. Since there are rich features in the subsurface (such as stones, pipes, plant roots, etc.), when the vehicle enters the autonomous driving mode, the electromagnetic wave sensor on the vehicle body scans the subsurface and compares it with the previous scanning results, so as to accurately locate the position of the vehicle. And because the subsurface is not affected by the environment, this system can work all day long. This system works simultaneously with the other two systems. When encountering heavy snow, the satellite positioning system and the visual positioning system can basically not work properly. The navigation system cannot receive accurate satellite positioning signals due to the occlusion of rain, snow, and clouds, but can use the remaining satellite positioning data to narrow the positioning range of the system. When the system confirms the range of the vehicle, it will search for the scanning result that matches the scanner of the electromagnetic wave subsurface sensor at the bottom of the vehicle within the preset geological feature map area to determine the accurate position of the vehicle. The navigation system plans the driving route for the vehicle based on the vehicle's position.

[0068] Furthermore, the preset geological feature map is obtained by scanning the road bed;

[0069] As Figure 2 shown, determining the vehicle position by comparing the preset geological feature map with the current geological information of the vehicle includes the steps of:

[0070] S61: Determine the area where the vehicle is located according to the satellite positioning information received by the ground;

[0071] Before determining the vehicle position through the current geological information of the vehicle, it is necessary to first determine the general area of the vehicle. Although the satellite positioning information cannot obtain the accurate position of the vehicle due to the influence of weather, it can determine the general area of the vehicle, narrowing the comparison range for subsequent searching of the specific position in the preset geological feature map according to the geological information, improving the vehicle positioning accuracy and reducing the workload of comparing geological information.

[0072] S62: Determine the area of the preset geological feature map according to the area where the vehicle is located;

[0073] After determining the area where the vehicle is located, it is also necessary to determine the corresponding preset geological feature map area of this area, that is, the preset geological feature map area. Subsequently, according to the geological information, only the area that matches this geological information needs to be searched on the preset geological feature map area.

[0074] S63: Obtain the first geological feature parameter according to the current geological information of the vehicle;

[0075] The first geological feature parameter at least includes the position of at least one of the rock layer, pipeline, and plant roots in the bottom layer. Based on the positions of these substances as references, the vehicle position is determined.

[0076] S64: Determine the second geological feature parameter that matches the first geological feature parameter in the preset geological feature map area;

[0077] More specifically, the geological feature parameter at least includes the position of at least one of the rock layer, pipeline, and plant roots in the road bottom layer. Due to the accumulation of time, the rocks or plant roots on the roadside will shift, and the actual road conditions will change compared with the road conditions in the preset geological feature map in this area. During the vehicle driving process, the electromagnetic wave sounding sensor scans the road bottom to obtain the bottom layer information, and searches for the position that matches this geological information in the preset geological feature map. It is very difficult to find the second geological feature parameter that is exactly the same as the first geological feature parameter. Therefore, special settings are required when determining the second geological feature parameter that matches the first geological feature parameter. For example, Figure 3 As shown, determining the second geological feature parameter that matches the first geological feature parameter in the preset geological feature map area includes the steps:

[0078] S641: Obtain the geological feature parameters at multiple different positions in the preset geological feature map area;

[0079] S642: Select the geological feature parameter with the smallest error from the multiple geological feature parameters compared with the first geological feature parameter;

[0080] S643: Determine the geological feature parameter with the smallest error from the first geological feature parameter as the second geological feature parameter.

[0081] There are geological feature parameters at multiple different positions in the preset geological feature map area. Compare the geological feature parameters at these different positions with the first geological feature parameter. Since the positions of substances such as roadside rocks will move, it is very difficult to find the second geological feature parameter that is exactly the same as the first geological feature parameter. Select the one that is closest to the first geological feature parameter from the geological feature parameters at many different positions as the second geological feature parameter. Finally, determine the position of the second geological feature parameter in the preset geological feature map area to determine the vehicle positioning.

[0082] S65: Determine the position of the second geological feature parameter in the preset geological feature map area to determine the vehicle positioning.

[0083] On the other hand, this embodiment also provides a vehicle positioning device for complex environments. The device includes a satellite positioning information acquisition module: for receiving satellite positioning information on the ground, and the ground reception of satellite positioning information includes the intensity of the ground reception of satellite positioning information;

[0084] A judgment module: for judging whether the intensity of the ground reception of satellite positioning information is greater than a preset information intensity;

[0085] A visual information acquisition module: for acquiring the current visual information of the vehicle when the intensity of the ground reception of satellite positioning information is greater than the preset information intensity;

[0086] A visual positioning module: for comparing the current visual information of the vehicle with a preset image information map to determine the vehicle positioning;

[0087] A geological information acquisition module: for acquiring the current geological information of the vehicle when the intensity of the ground reception of satellite positioning information is less than or equal to the preset information intensity;

[0088] A geological positioning module: for comparing the current geological information of the vehicle with a preset geological feature map to determine the vehicle positioning.

[0089] The embodiment of the present invention also provides an electronic device. The electronic device includes a processor and a memory. At least one instruction, at least one program, a code set or an instruction set is stored in the memory, and at least one instruction, at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle positioning method for complex environments as in the method embodiment.

[0090] The embodiment of the present invention also provides a storage medium. The storage medium can be set in a server to store at least one instruction, at least one program, a code set or an instruction set related to implementing a vehicle positioning method for complex environments in the method embodiment. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle positioning method for complex environments provided in the above method embodiment.

[0091] Optionally, in this embodiment, the above storage medium can be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium may include, but is not limited to: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks or optical discs and other various media that can store program codes.

[0092] Implementing the present invention has the following beneficial effects:

[0093] 1. Three positioning systems, which switch the positioning method according to the weather conditions. When the weather is good, satellite positioning information and visual positioning information with high positioning accuracy are selected for positioning; when the visibility is not high, the vehicle positioning is determined through geological information. Determining the current positioning through geological information is not affected by the weather environment and can work all-weather; moreover, the detection medium hardly changes, and the detected map can be used for a long time without frequent updates.

[0094] 2. An electromagnetic wave ground-penetrating sensor is installed at the bottom of the vehicle to scan the underlying road. The impact during the vehicle's operation is minimized, and it can comprehensively scan the underlying road. Moreover, scanning the underlying road through the electromagnetic wave ground-penetrating sensor has a lower cost and more mature technology compared to scanning the road with a lidar.

[0095] 3. Only an electromagnetic wave ground-penetrating sensor needs to be set at the bottom of the vehicle to scan the underlying road, which has strong compatibility and can be applied to any vehicle.

[0096] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the device and server embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and reference can be made to the partial description of the method embodiments for the relevant parts.

[0097] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The said program can be stored in a computer-readable storage medium. The storage media mentioned above can be a read-only memory, a disk, an optical disc, etc.

[0098] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0099] The above description has fully disclosed the specific implementation manners of the present invention. It should be pointed out that any changes made by those skilled in the art to the specific implementation manners of the present invention do not depart from the scope of the claims of the present invention. Correspondingly, the scope of the claims of the present invention is not limited only to the foregoing specific implementation manners.

Claims

1. A vehicle positioning method for complex environments, characterized in that, Including the steps: Obtain ground-received satellite positioning information, where the ground-received satellite positioning information includes the intensity of the ground-received satellite positioning information; Judge whether the intensity of the ground-received satellite positioning information is greater than a preset information intensity; If so, obtain the current visual information of the vehicle; Compare the current visual information of the vehicle with a preset image information map to determine the vehicle positioning; If not, obtain the current geological information of the vehicle, where the geological information is obtained by scanning the road bottom layer with an electromagnetic wave sounding sensor installed on the vehicle; Determine the area where the vehicle is located according to the ground-received satellite positioning information; determine the area of the preset geological feature map according to the area where the vehicle is located; Obtain a first geological feature parameter according to the current geological information of the vehicle, where the first geological feature information includes at least the position of at least one of the rock layer, pipeline, and plant roots in the road bottom layer; Determine a second geological feature parameter that matches the first geological feature parameter in the preset geological feature map area; Determine the position of the second geological feature parameter in the preset geological feature map area to determine the vehicle positioning.

2. A vehicle positioning method for a complex environment according to claim 1, wherein The preset image information map is a high-precision map; The high-precision map at least includes image lane line information and image traffic sign information.

3. A vehicle positioning method for complex environments according to claim 2, wherein, The step of comparing the current visual information of the vehicle with the preset image information map to determine the vehicle positioning includes: The ground-received satellite positioning information further includes area positioning information; Obtain the high-precision map of the area where the vehicle is located according to the area positioning information, where the high-precision map of the area where the vehicle is located at least includes map lane line information and map traffic sign information; Search for the positions of the map lane line information and the map traffic sign information that match the image lane line information and the image traffic sign information on the high-precision map to determine the vehicle positioning.

4. A vehicle positioning method for complex environments according to claim 1, wherein, The preset geological feature map is obtained by scanning the road bottom layer.

5. The vehicle positioning method for complex environments according to claim 4, wherein The step of determining a second geological feature parameter that matches the first geological feature parameter in the preset geological feature map area includes: Obtain geological feature parameters at multiple different positions in the preset geological feature map area; Select the geological feature parameter with the smallest error from the multiple geological feature parameters compared with the first geological feature parameter; Determine the geological feature parameter with the smallest error from the first geological feature parameter as the second geological feature parameter.

6. The vehicle positioning method for complex environments according to claim 5, wherein The geological feature parameter at least includes the position of at least one of the rock layer, pipeline, and plant roots in the road bottom layer.

7. A vehicle positioning device for a complex environment, characterized in that, Including: Satellite positioning information acquisition module: used to receive ground satellite positioning information, where the ground-received satellite positioning information includes the intensity of the ground-received satellite positioning information; Judgment module: used to judge whether the intensity of the ground-received satellite positioning information is greater than a preset information intensity; Visual information acquisition module: used to obtain the current visual information of the vehicle when the intensity of the ground-received satellite positioning information is greater than a preset information intensity; Visual positioning module: used to compare the current visual information of the vehicle with a preset image information map to determine the vehicle positioning; Geological information acquisition module: configured to acquire the current geological information of the vehicle when the intensity of the ground-received satellite positioning information is less than or equal to a preset information intensity, and the geological information is acquired by scanning the road bottom layer with an electromagnetic wave sounding sensor installed on the vehicle; Area determination module, configured to determine the area where the vehicle is located according to the ground-received satellite positioning information; determine a preset geological feature map area according to the area where the vehicle is located; Obtain a first geological feature parameter according to the current geological information of the vehicle, and the first geological feature information includes at least the position of at least one of a rock layer, a pipeline, and a plant root system in the road bottom layer; Matching module, configured to determine a second geological feature parameter matching the first geological feature parameter in the preset geological feature map area; Geological positioning module, configured to determine the position of the second geological feature parameter in the preset geological feature map area and determine the vehicle positioning.

8. An electronic device, characterized in that, The device includes a processor and a memory, and at least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle positioning method for complex environments according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, At least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement a vehicle positioning method for complex environments according to any one of claims 1 to 6.

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