公开(公告)号：US20220229193A1

公开(公告)日：2022-07-21

申请号：US17711339

申请日：2022-04-01

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

Inventor： Shenhua HOU ,  Yuzhe HE ,  Liang PENG ,  Guowei WAN

IPC: G01S19/53 ,  G01S19/48 ,  G01S19/49

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.

公开(公告)号：US20230100734A1

公开(公告)日：2023-03-30

申请号：US17950799

申请日：2022-09-22

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

Inventor： Xiangyu FU ,  Guowei WAN ,  Yao ZHOU ,  Liang PENG

IPC: G01C21/30 ,  G06T7/73

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.

公开(公告)号：US20230130901A1

公开(公告)日：2023-04-27

申请号：US17971043

申请日：2022-10-21

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

Inventor： Chunxiao LI ,  Weilin PENG ,  Jie HUANG ,  Yu BAI ,  Liang PENG

IPC: G01C21/00 ,  G01C21/32 ,  G06T5/00

Abstract: Provided are a method for constructing a three-dimensional map in a high-definition map, a device and a storage medium. The method includes: acquiring vehicle trajectory data, where the vehicle trajectory data is three-dimensional trajectory data; matching the vehicle trajectory data with a lane in a two-dimensional map and determining vehicle trajectory data matched with the lane; and assigning a height to the lane in the two-dimensional map according to the matched vehicle trajectory data to obtain a three-dimensional map.