公开(公告)号：US11725944B2

公开(公告)日：2023-08-15

申请号：US16806331

申请日：2020-03-02

Applicant: APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD.

Inventor： Shenhua Hou ,  Wendong Ding ,  Hang Gao ,  Guowei Wan ,  Shiyu Song

IPC: G01C21/30 ,  G01S17/89 ,  G01S17/06 ,  G01C21/16 ,  G01C21/00

CPC classification number: G01C21/165 ,  G01C21/1652 ,  G01C21/30 ,  G01C21/3804 ,  G01S17/06 ,  G01S17/89

Abstract: The present disclosure provides a method, an apparatus, a computer device and a computer-readable storage medium for positioning, and relates to the field of autonomous driving. The method obtains inertial measurement data of a device to be positioned at a current time and point cloud data collected by a LiDAR on the device at the current time; determines, by integrating the inertial measurement data, inertial positioning information of the device in an inertial coordinate system at the current time; and determines, based on the inertial positioning information, the point cloud data and at least one local map built in a local coordinate system, a positioning result of the device in the local coordinate system at the current time. Techniques of the present disclosure can provide an effective and stable local positioning result.

公开(公告)号：US12214800B2

公开(公告)日：2025-02-04

申请号：US17975689

申请日：2022-10-28

Applicant: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

Inventor： Wei Gao ,  Wendong Ding ,  Guowei Wan ,  Liang Peng

IPC: B60W60/00 ,  B60K35/00 ,  B60W40/10 ,  B60W50/00 ,  G01S7/48 ,  G01S17/86 ,  G01S17/89 ,  G06T7/50 ,  G06T7/73

Abstract: A method of processing data for an autonomous vehicle, an electronic device, a storage medium, and an autonomous vehicle are provided. The method includes: acquiring sensor data for the autonomous vehicle, wherein the sensor data includes inertial measurement data, LiDAR data, and visual image data; determining a first constraint factor for the inertial measurement data according to the inertial measurement data and the visual image data; determining a second constraint factor for the LiDAR data according to the inertial measurement data and the LiDAR data; determining a third constraint factor for the visual image data according to the inertial measurement data, the visual image data and the LiDAR data; and processing the sensor data based on the first constraint factor, the second constraint factor and the third constraint factor, so as to obtain positioning data for positioning the autonomous vehicle.

公开(公告)号：US11789455B2

公开(公告)日：2023-10-17

申请号：US17137048

申请日：2020-12-29

Applicant: Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

Inventor： Wendong Ding ,  Xiaofei Rui ,  Gang Wang ,  Shiyu Song

IPC: G05D1/02 ,  B60W60/00 ,  G06V20/56 ,  G06F18/25

CPC classification number: G05D1/0246 ,  B60W60/001 ,  G06F18/25 ,  G06V20/56 ,  B60W2420/403 ,  B60W2422/70 ,  B60W2520/28

Abstract: Embodiments of the present application disclose a positioning method and apparatus, an autonomous driving vehicle, an electronic device and a storage medium, relating to the field of autonomous driving technologies, comprising: collecting first pose information measured by an inertial measurement unit within a preset time period, and collecting second pose information measured by a wheel tachometer within the time period; generating positioning information according to the first pose information, the second pose information and the adjacent frame images; controlling driving of the autonomous driving vehicle according to the positioning information. The positioning information is estimated by combining the first pose information and the second pose information corresponding to the inertial measurement unit and the wheel tachometer respectively. Compared with the camera, the inertial measurement unit and the wheel tachometer are not prone to be interfered by the external environment.