US 12,148,304 B2
Vehicle positioning method and apparatus, electronic device and storage medium
Zuoyue Han, Shanghai (CN); and Zihan Wang, Shanghai (CN)
Assigned to UISEE (SHANGHAI) AUTOMOTIVE TECHNOLOGIES LTD., Shanghai (CN)
Appl. No. 18/574,048
Filed by UISEE (SHANGHAI) AUTOMOTIVE TECHNOLOGIES LTD., Shanghai (CN)
PCT Filed Jun. 1, 2022, PCT No. PCT/CN2022/096647
§ 371(c)(1), (2) Date Dec. 25, 2023,
PCT Pub. No. WO2023/273780, PCT Pub. Date Jan. 5, 2023.
Claims priority of application No. 202110720086.5 (CN), filed on Jun. 28, 2021.
Prior Publication US 2024/0265811 A1, Aug. 8, 2024
Int. Cl. G06V 20/56 (2022.01); G01C 21/30 (2006.01); G08G 1/16 (2006.01)
CPC G08G 1/167 (2013.01) [G01C 21/30 (2013.01); G06V 20/588 (2022.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle positioning method, comprising:
specifying different comparison integration rules for different current positioning-established lanes;
determining, by physically sensing, by the vehicle, initial road information with sensors of the vehicle, a current positioning-established lane on the basis of current position information of the vehicle, the initial road information sensed by the vehicle and map information, wherein the initial road information includes first physical features of the road;
comparing, by physically sensing and acquiring, by the vehicle with the sensors of the vehicle, road information, including second physical features of a road, in real time, the road information sensed by the vehicle acquired in real time with the current positioning-established lane to determine a mismatch integral value; the comparing the road information sensed by the vehicle acquired in real time with the current positioning-established lane to determine the mismatch integral value comprising: acquiring, in real time, the road information sensed by the vehicle acquired in real time and comparing the road information sensed by the vehicle acquired in real time with the current positioning-established lane to determine the mismatch integral value based on at least one of the different comparison integration rules; and
after determining that the mismatch integral value is greater than or equal to a preset integral value, repeating said determining a current positioning-established lane to obtain an updated positioning-established lane.