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公开(公告)号：US11953609B2
公开(公告)日：2024-04-09
申请号：US17711339
申请日：2022-04-01
Inventor： Shenhua Hou , Yuzhe He , Liang Peng , Guowei Wan
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.
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2.发明申请公开(公告)号：US20230134569A1
公开(公告)日：2023-05-04
申请号：US18088954
申请日：2022-12-27
Inventor： Yuzhe HE , Shenhua Hou , Yao Zhou , Liang Peng , Guowei Wan
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.
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公开(公告)号：US12270659B2
公开(公告)日：2025-04-08
申请号：US17950799
申请日：2022-09-22
Inventor： Xiangyu Fu , Guowei Wan , Yao Zhou , Liang Peng
Abstract: Exemplary positioning method and apparatus, a device, a system, a medium and a self-driving vehicle are provided. The positioning method includes determining, according to the current frame of point cloud data collected by a to-be-positioned terminal in a travelling environment, the current key point in the current frame of point cloud data and a point cloud distribution feature of the current key point; selecting, according to point cloud distribution features associated with reference key points in a global positioning map and the point cloud distribution feature of the current key point, a target key point matching the current key point from the reference key points; and determining, according to reference pose data associated with the target key point, the current pose data of the to-be-positioned terminal.
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公开(公告)号：US20230042968A1
公开(公告)日：2023-02-09
申请号：US17970285
申请日：2022-10-20
Inventor： Wendong Ding , Yingying Qin , Yangyang Dai , Yucheng Zhang , Liang Peng , Guowei Wan
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.
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