US 12,214,800 B2
Method of processing data for autonomous vehicle, electronic device, storage medium and autonomous vehicle
Wei Gao, Beijing (CN); Wendong Ding, Beijing (CN); Guowei Wan, Beijing (CN); and Liang Peng, Beijing (CN)
Assigned to APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD., Beijing (CN)
Filed by Apollo Intelligent Driving Technology (Beijing) Co., Ltd., Beijing (CN)
Filed on Oct. 28, 2022, as Appl. No. 17/975,689.
Claims priority of application No. 202111291238.0 (CN), filed on Nov. 2, 2021.
Prior Publication US 2023/0118945 A1, Apr. 20, 2023
Int. Cl. B60W 60/00 (2020.01); B60K 35/00 (2006.01); B60W 40/10 (2012.01); B60W 50/00 (2006.01); G01S 7/48 (2006.01); G01S 17/86 (2020.01); G01S 17/89 (2020.01); G06T 7/50 (2017.01); G06T 7/73 (2017.01)
CPC B60W 60/001 (2020.02) [B60K 35/00 (2013.01); B60W 40/10 (2013.01); B60W 50/00 (2013.01); G01S 7/4808 (2013.01); G01S 17/86 (2020.01); G01S 17/89 (2013.01); G06T 7/50 (2017.01); G06T 7/73 (2017.01); B60W 2050/0005 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2556/00 (2020.02); G06T 2207/10028 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method of processing data for an autonomous vehicle, comprising:
acquiring sensor data for the autonomous vehicle, wherein the sensor data comprises inertial measurement data, LiDAR data, and visual image data;
determining a first constraint factor for the inertial measurement data according to the inertial measurement data and the visual image data;
determining a second constraint factor for the LiDAR data according to the inertial measurement data and the LiDAR data;
determining a third constraint factor for the visual image data according to the inertial measurement data, the visual image data, and the LiDAR data;
processing the sensor data based on the first constraint factor, the second constraint factor, and the third constraint factor, so as to obtain positioning data; and
positioning the autonomous vehicle by using the positioning data, wherein
the determining a third constraint factor for the visual image data according to the inertial measurement data, the visual image data, and the LiDAR data includes:
determining a depth information of the visual image data according to the visual image data and the LiDAR data;
determining a mapping relationship between the visual image data and the inertial measurement data according to the visual image data and the inertial measurement data; and
determining the third constraint factor according to the depth information and the mapping relationship, and
the determining a depth information of the visual image data according to the visual image data and the LiDAR data includes:
determining an initial inertial measurement relative pose at a visual image acquisition time instant of the visual image data relative to a radar data acquisition time instant of adjacent radar data;
determining a first projection position of the LiDAR data to a visual image data plane according to the visual image acquisition time instant, the radar data acquisition time instant, and the initial inertial measurement relative pose;
determining an image projection time instant and an updated inertial measurement relative pose according to the first projection position; and
determining the depth information of the visual image data according to the updated inertial measurement relative pose.