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.