US 11,703,332 B2
Vehicle positioning method, apparatus, electronic device, vehicle and storage medium
Dayun Shen, Beijing (CN)
Assigned to BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
Filed by BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
Filed on Feb. 9, 2021, as Appl. No. 17/171,999.
Claims priority of application No. 202010450278.4 (CN), filed on May 25, 2020.
Prior Publication US 2021/0190510 A1, Jun. 24, 2021
Int. Cl. G01C 21/36 (2006.01); G01C 21/30 (2006.01)
CPC G01C 21/30 (2013.01) [G01C 21/3602 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A vehicle positioning method, comprising:
obtaining perceptual information of a lane where a vehicle is located, and obtaining high-precision information of the lane from a preset high-precision map, wherein the perceptual information and the high-precision information both comprise lane line information, and both comprise at least one of curb information and guardrail information;
determining matching information of the perceptual information and the high-precision information;
generating position information of the vehicle according to the matching information;
controlling travelling of the vehicle according to the position information;
wherein the determining the matching information of the perceptual information and the high-precision information comprises:
determining a matching degree between the lane line information in the perceptual information and the lane line information in the high-precision information, and pose position information of the vehicle corresponding to the matching degree;
determining offset information of the vehicle according to the pose position information, wherein the offset information is information of an offset between pose position information of the vehicle in the perceptual information and pose position information of the vehicle in the high-precision information;
adjusting the matching degree according to the offset information;
wherein the adjusting the matching degree according to the offset information comprises:
determining an offset probability P(distance) based on the offset information and

OG Complex Work Unit Math
 adjusting the matching degree according to the offset probability;
wherein Rmax is a preset maximum offset value for rotation information, Tmax is a preset maximum offset value for translation information, R is rotation information, T is translation information, and the offset information comprises R and T.