US 12,392,634 B2
Vehicle positioning method and system for fixed parking scenario
Xuejie Lv, Hefei (CN); Shiting Wang, Hefei (CN); Chengzuo Qi, Hefei (CN); Kai Zhang, Hefei (CN); and Quansheng Duan, Hefei (CN)
Assigned to NIO TECHNOLOGY (ANHUI) CO., LTD, Hefei (CN)
Filed by NIO TECHNOLOGY (ANHUI) CO., LTD, Hefei (CN)
Filed on Apr. 11, 2022, as Appl. No. 17/717,372.
Claims priority of application No. 202110387403.6 (CN), filed on Apr. 12, 2021.
Prior Publication US 2022/0326036 A1, Oct. 13, 2022
Int. Cl. G01C 21/36 (2006.01); G01C 21/00 (2006.01)
CPC G01C 21/3685 (2013.01) [G01C 21/367 (2013.01); G01C 21/3896 (2020.08)] 9 Claims
OG exemplary drawing
 
1. A vehicle positioning method for a parking lot with a fixed parking spot, the method comprising:
a step of loading, by a processor, a parking scenario map;
a step of receiving, by the processor, measured values that exceed a certain threshold due to construction errors from a cloud, wherein the measured values are in form of a displacement between a planar coordinate system for defining a position of a planar marker in the fixed parking spot and a spatial coordinate system for defining a position of a spatial marker in the fixed parking spot;
a step of updating, by the processor, the parking scenario map with the measured values;
a planar positioning step of:
obtaining, by the processor, position information of a vehicle based on the planar marker in the fixed parking spot,
matching, by the processor, the planar position information with the parking scenario map,
obtaining, by the processor, a planar pose of the vehicle in the parking scenario map, and
planning, by the processor, a first navigation path toward a first target position based on the planar pose and the first target position,
the first navigation path corresponding to a plane; and
a spatial positioning step of:
obtaining, by the processor, spatial position information of the vehicle based on the spatial marker in the fixed parking spot,
matching, by the processor, the spatial position information with the parking scenario map,
obtaining, by the processor, a spatial pose of the vehicle in the parking scenario map, and
planning, by the processor, a second navigation path toward a second target position based on the spatial pose and the second target position, the second navigation path corresponding to space.