公开(公告)号：US11841446B2

公开(公告)日：2023-12-12

申请号：US17214630

申请日：2021-03-26

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

Inventor： Wenjie Liu ,  Renlan Cai ,  Xiaotao Li ,  Shiyu Song

IPC: G01S19/45 ,  G01S17/86 ,  G01S17/42

CPC classification number: G01S19/45 ,  G01S17/42 ,  G01S17/86

Abstract: The present application discloses a positioning method and an apparatus, which relate to the technical field of intelligent driving. A specific implementation solution is: determining a first positioning result using point cloud data collected by lidar in combination with a laser point cloud reflection value map; constructing a constraint condition using the first positioning result, where the constraint condition is used to accelerate a convergence speed of solving a receiver position using observation data; performing GNSS-PPP positioning using the constraint condition in combination with observation data of a GNSS receiver to obtain a second positioning result. Using this solution, lidar positioning technology is combined with GNSS-PPP positioning technology to realize a purpose of not relying on a GNSS base station.

公开(公告)号：US11668831B2

公开(公告)日：2023-06-06

申请号：US17137470

申请日：2020-12-30

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

Inventor： Wendong Ding ,  Fan Yi ,  Li Yu ,  Pengfei Yuan ,  Shiyu Song

IPC: G06K9/00 ,  G01S17/894 ,  G06T7/521 ,  G06T7/70 ,  G06V40/20 ,  G06V20/64 ,  G06V20/56 ,  G01S17/06

CPC classification number: G01S17/894 ,  G01S17/06 ,  G06T7/521 ,  G06T7/70 ,  G06V20/56 ,  G06V20/647 ,  G06V40/23 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: The present application discloses a high-precision mapping method and device, which relates to the field of autonomous driving. A specific implementation includes: acquiring global initial poses of multiple point clouds, where the point clouds are point clouds of a location for which a map is to be built and are collected by a lidar using a multi-circle collection mode; dividing the multiple point clouds into multiple spatial submap graphs according to a spatial distribution relationship of the multiple point clouds; optimizing, for each spatial submap graph, global initial poses of point clouds belonging to the spatial submap graph to acquire global poses of the point clouds in each spatial submap graph; and stitching the multiple spatial submap graphs together according to global poses of the point clouds in the multiple spatial submap graphs to acquire a base graph of the map to be built.

公开(公告)号：US11447153B2

公开(公告)日：2022-09-20

申请号：US17339016

申请日：2021-06-04

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

Inventor： Yang Liu ,  Shiyu Song

IPC: B60W60/00

Abstract: A method and apparatus for annotating a virtual lane at a crossing is provided, which relates to the field of intelligent transportation, and specifically includes: calculating a virtual connecting probability of various lanes that do not connected to each other at the crossing based on driving trajectory data of a vehicles that passing through the crossing within a detection time, and generating the virtual lane at the crossing for two disconnected lanes whose virtual connecting probability is greater than a threshold, and annotating the virtual lane on a map. In this process, the virtual lane at the crossing can be automatically generated according to the driving trajectory data of the vehicles passing through the crossing, and because the driving trajectory data of the vehicles passing through the crossing is real trajectory data, which is more in conformity with actual driving rules of the vehicles, and has a higher annotation accuracy.