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公开(公告)号：US20190146062A1
公开(公告)日：2019-05-16
申请号：US16168179
申请日：2018-10-23
发明人： Guowei WAN , Hao Li , Yao Zhou , Shiyu Song , Fangfang Dong
CPC分类号： G01S7/4808 , G01S17/89 , G05D1/0088 , G05D1/0231 , G05D1/0274 , G05D2201/0213 , G06T3/0031 , G06T2207/10028
摘要： The present disclosure provides a laser point cloud positioning method and system. The method comprises: converting laser point cloud reflection value data and height value data matched with a current location of an autonomous vehicle into laser point cloud projection data in a ground plane; assigning a weight for a reflection value matching probability and a height value matching probability of the laser point cloud projection data and a laser point cloud two-dimensional grid map, and determining a matching probability of the laser point cloud projection data and the laser point cloud two-dimensional grid map; determining a location of the autonomous vehicle in the laser point cloud two-dimensional grid map based on a matching probability of the laser point cloud projection data and the laser point cloud two-dimensional grid map. The present disclosure is employed to solve the problem in the prior art that when the laser point cloud matches with the map, an undesirable matching effect is achieved by individually considering the reflection value matching or height value matching, or superimposing the two simply. The present disclosure can improve the laser point cloud positioning precision, and enhance robustness of the positioning system.
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公开(公告)号：US20200064137A1
公开(公告)日：2020-02-27
申请号：US16508259
申请日：2019-07-10
发明人： Hao LI , Guowei WAN , Yao ZHOU , Shiyu SONG , Fangfang DONG
摘要： Embodiments of the present disclosure disclose a method and apparatus for positioning an autonomous vehicle. The method includes: matching a current point cloud projected image of a first resolution with a map of the first resolution to generate a first histogram filter based on the matching result; determining at least two first response areas in the first histogram filter based on a probability value of an element in the first histogram filter; generating a second histogram filter based on a result of matching a current point cloud projected image of a second resolution with a map of the second resolution and the at least two first response areas, the first resolution being less than the second resolution; and calculating a weighted average of probability values of target elements in the second histogram filter to determine a positioning result of the autonomous vehicle in the map of the second resolution.
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公开(公告)号：US20180306922A1
公开(公告)日：2018-10-25
申请号：US15882131
申请日：2018-01-29
发明人： Guowei WAN , Hao Wang , Shiyu Song , Baoqiang Xu
CPC分类号： G01S17/42 , G01S17/023 , G01S17/89 , G01S19/42 , G05D1/024
摘要： The present application discloses a method and apparatus for positioning a vehicle. An implementation of the method comprises: obtaining laser point cloud data of a laser point cloud collected by a laser radar on a vehicle, and obtaining an initial pose of a center point of the laser radar; calculating a matching probability between projection data corresponding to each sampling pose and map data of a reflected value map respectively; and calculating an optimal pose based on the matching probability between the projection data corresponding to the each sampling pose and the map data of the reflected value map, and determining a position of the vehicle based on the optimal pose.
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公开(公告)号：US20180299273A1
公开(公告)日：2018-10-18
申请号：US15876008
申请日：2018-01-19
发明人： Renlan CAI , Xiaolong YANG , Guowei WAN , Weixin LU , Shiyu SONG , Baoqiang XU
摘要： The present disclosure discloses a method and apparatus for positioning a vehicle. In some embodiments, the method comprises: acquiring an a priori position of a to-be-positioned vehicle at a current positioning moment determined by performing a strapdown calculation between a previous positioning moment and the current positioning moment; determining a map area for searching in a laser point cloud reflected value map; matching a reflected value characteristic of a projection area generated by projecting a real-time laser point cloud, to obtain a map matching position according to a matching result; positioning, using the a priori position in combination with observation data of a vehicle-mounted global navigation satellite system (GNSS) receiver of the vehicle, to obtain a satellite positioning position; and fusing the a priori position, the map matching position and the satellite positioning position to generate a positioning result of positioning the vehicle at the current moment.
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