公开(公告)号：US11953609B2

公开(公告)日：2024-04-09

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: G01S19/48 ,  G01S19/49 ,  G01S19/53 ,  G01S5/02 ,  G01S19/45 ,  G01S19/47

CPC classification number: G01S19/48 ,  G01S19/485 ,  G01S19/49 ,  G01S19/53 ,  G01S5/0258 ,  G01S19/45 ,  G01S19/47

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：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.

公开(公告)号：US20230042968A1

公开(公告)日：2023-02-09

申请号：US17970285

申请日：2022-10-20

Applicant: Beijing Baidu Netcom Science Technology Co., Ltd.

Inventor： Wendong Ding ,  Yingying Qin ,  Yangyang Dai ,  Yucheng Zhang ,  Liang Peng ,  Guowei Wan

IPC: G06T7/32 ,  G06T7/70 ,  G06T7/11 ,  G01S17/89

Abstract: A high-definition map creation method includes: obtaining point cloud data collected with respect to a target region, the point cloud data including K frames of point clouds and an initial pose of each frame of point cloud, K being an integer greater than 1; associating the K frames of point clouds with each other in accordance with the initial pose to obtain a first point cloud relation graph of the K frames of point clouds; performing point cloud registration on the K frames of point clouds in accordance with the first point cloud relation graph and the initial pose to obtain a target relative pose of each frame of point cloud in the K frames of point clouds; and splicing the K frames of point clouds in accordance with the target relative pose to obtain a point cloud map of the target region.