公开(公告)号：US20220229193A1

公开(公告)日：2022-07-21

申请号：US17711339

申请日：2022-04-01

Applicant: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.

Inventor： Shenhua HOU ,  Yuzhe HE ,  Liang PENG ,  Guowei WAN

IPC: G01S19/53 ,  G01S19/48 ,  G01S19/49

Abstract: The present disclosure provides a vehicle positioning method, an apparatus and an autonomous driving vehicle, relating to autonomous driving in the technical field of artificial intelligence, which can be applied to high-definition positioning of the autonomous driving vehicle, the method including: if there is no high-definition map in a vehicle, acquiring intermediate pose information of the vehicle based on a global navigation satellite system and/or an inertial measurement unit in the vehicle, and determining the intermediate pose information as global positioning information; acquiring local positioning information; performing fusion processing to the global pose information and the local pose information to obtain fused pose information; performing compensation processing to the fused pose information according to the global attitude angle information and the local attitude angle information to obtain a position of the vehicle.

公开(公告)号：US20240221215A1

公开(公告)日：2024-07-04

申请号：US18605423

申请日：2024-03-14

Applicant: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.

Inventor： Yuzhe HE ,  Shuang LIANG ,  Xiaofei RUI ,  Chengying CAI ,  Guowei WAN ,  Ye ZHANG

IPC: G06T7/73 ,  G06V10/77 ,  G06V10/80

CPC classification number: G06T7/75 ,  G06V10/7715 ,  G06V10/80 ,  G06T2207/10028 ,  G06T2207/20221

Abstract: A method is provided that includes: obtaining an initial pose of a vehicle, a multi-modal sensor data of the vehicle, and a plurality of map elements for positioning the vehicle; encoding the multi-modal sensor data to obtain an environmental feature; encoding the plurality of map elements to obtain a map feature; determining, based on the environmental feature and the map feature, a target pose offset for correcting the initial pose; and superimposing the initial pose and the target pose offset to obtain a corrected pose of the vehicle.

公开(公告)号：US20230134569A1

公开(公告)日：2023-05-04

申请号：US18088954

申请日：2022-12-27

Applicant: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.

Inventor： Yuzhe HE ,  Shenhua Hou ,  Yao Zhou ,  Liang Peng ,  Guowei Wan

IPC: G06V20/56 ,  G06V20/58

Abstract: A positioning method based on a lane line and a feature point, an electronic device, and a storage medium, which relate to fields of computer, automatic driving, intelligent transportation, computer vision. The method may include: determining first real-time measurement residuals according to first sensor information of a movable object detected, the first real-time measurement residuals including a first inertial measurement unit measurement residual, a first lane line measurement residual and a first non-lane line measurement residual; updating a state vector of the movable object according to a kinematic model of an inertial measurement unit and the first real-time measurement residuals; and determining a pose of the movable object at a time instant corresponding to the updated state vector according to a pose vector in the updated state vector.