Vehicle positioning method, device and equipment based on laser radar and medium

• Main Authors: GU RONGQI, TAN LIMIN, LIU JUNKAI
• Format: Patent
• Language: Chinese; English
• Published: 22.11.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention relates to the technical field of port automation, and provides a vehicle positioning method and device based on a laser radar, equipment and a medium. The vehicle positioning method based on the laser radar comprises the following steps: extracting point cloud data of a to-be-detected vehicle from point cloud data collected by the laser radar; projecting the point cloud data of the to-be-measured vehicle to a target plane to obtain target point cloud data; performing straight line fitting processing on the target point cloud data to obtain a fitting straight line representing the position state of the to-be-detected vehicle in the target plane; and obtaining a positioning result of the to-be-detected vehicle according to the fitting straight line and a target straight line representing the target direction and the target position in the target plane. According to the positioning scheme of estimating the vehicle position state based on the laser radar, the positioning result of the vehicle can b