公开(公告)号：US20210206390A1

公开(公告)日：2021-07-08

申请号：US17210144

申请日：2021-03-23

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

Inventor： FENG CHENG ,  XIAOLONG YANG ,  SHIYU SONG

IPC: B60W60/00 ,  G01S13/931 ,  G06K9/62

Abstract: Embodiments of the present disclosure provide a positioning method, a positioning apparatus, a vehicle device, an autonomous vehicle and a storage medium, which relate to the field of automatic driving technology, where the method includes: acquiring navigation information respectively output by at least two Kalman filters, where each of the Kalman filters is connected to an inertial measurement unit, and fusing the multiple pieces of navigation information to obtain positioning information. By connecting one inertial measurement unit to one Kalman filter and fusing multiple pieces of navigation information acquired from the respective Kalman filters, it is possible to avoid low efficiency and huge calculations when one Kalman filter is used to calculate relevant information output by multiple inertial measurement units, and reduce the amount of calculations of the respective Kalman filters and improve calculation efficiency. Moreover, because the respective Kalman filters operate in parallel, information interference can be reduced.

公开(公告)号：US20210291878A1

公开(公告)日：2021-09-23

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.

公开(公告)号：US20210215832A1

公开(公告)日：2021-07-15

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 ,  G01S17/42 ,  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.