US 12,252,137 B2
Vehicle positioning method, apparatus, and controller, intelligent vehicle, and system
Yangjie Pan, Shenzhen (CN); Weilong Hu, Shenzhen (CN); Xupeng Li, Shenzhen (CN); and Tao Ding, Hangzhou (CN)
Assigned to Shenzhen Yinwang Intelligent Technologies Co., Ltd., Shenzhen (CN)
Filed by HUAWEI TECHNOLOGIES CO., LTD., Guangdong (CN)
Filed on Jul. 14, 2022, as Appl. No. 17/864,998.
Application 17/864,998 is a continuation of application No. PCT/CN2020/125761, filed on Nov. 2, 2020.
Claims priority of application No. 202010038272.6 (CN), filed on Jan. 14, 2020; and application No. 202010177804.4 (CN), filed on Mar. 13, 2020.
Prior Publication US 2022/0371602 A1, Nov. 24, 2022
Int. Cl. B60W 40/10 (2012.01); G06F 18/25 (2023.01)
CPC B60W 40/10 (2013.01) [G06F 18/25 (2023.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4041 (2020.02); B60W 2554/4049 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A vehicle positioning method, comprising:
obtaining, by a first vehicle, a first relative pose between the first vehicle and a help providing object based on first point cloud data in a first coordinate system and second point cloud data in a second coordinate system, wherein the first relative pose is used to indicate a position and a posture of the help providing object relative to the first vehicle by using the first vehicle as a reference, and the first relative pose is a pose of the help providing object that is determined in the first coordinate system;
receiving, by the first vehicle from the help providing object, a global pose of the help providing object, wherein the global pose of the help providing object is determined in the second coordinate system; and
calculating, by the first vehicle, a global pose of the first vehicle based on the first relative pose and the global pose of the help providing object.