Vehicle positioning device, vehicle positioning method and vehicle

By acquiring the wheel image and three-dimensional point cloud data, and using the wheel position to estimate the position and orientation of the vehicle, the problem of low positioning accuracy when the vehicle shape changes in the prior art is solved, and high-precision vehicle positioning is achieved.

CN119682769APending Publication Date: 2025-03-25TOYOTA JIDOSHA KK
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Patent Information

Application Number
CN202411300297.3
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Priority Date
2023-09-22
Filing Date
2024-09-18
Publication Date
2025-03-25

AI Technical Summary

Technical Problem

In the case where the vehicle shape characteristics are small or the shape changes, it is difficult for the existing vehicle positioning system to accurately detect the vehicle position through a common detection method.

Method used

By acquiring the wheel image and three-dimensional point cloud data, the position and orientation of the vehicle are estimated using the wheel position. The system includes a wheel information acquisition unit, a wheel position acquisition unit and a position estimation unit, and can maintain positioning accuracy when the vehicle shape changes.

Benefits of technology

Vehicle positioning independent of vehicle shape is realized, and positioning accuracy and reliability are improved in the case of small or changing shape characteristics.

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Abstract

A vehicle positioning device is provided with: a wheel information acquisition unit that acquires wheel information from a wheel detector that acquires wheel information, the wheel information being at least one of an image of at least one of a plurality of wheels included in a vehicle that can be driven by unmanned driving and three-dimensional point cloud data of the at least one wheel; a wheel position acquisition unit that acquires the position of at least one wheel using the acquired wheel information; and a position estimation unit that estimates the position and orientation of the vehicle using the acquired position of the at least one wheel.
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