Vehicle positioning method and device

• Main Author: QI ZHONGZHENG
• Format: Patent
• Language: Chinese; English
• Published: 06.06.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention discloses a vehicle positioning method and device, and the method comprises the steps: obtaining a first position of a vehicle and point cloud data collected by a laser radar installed on the vehicle, extracting road edge point cloud data, road surface point cloud data and rod-shaped object point cloud data from the point cloud data, and carrying out the positioning of the vehicle according to a timestamp, aligning the road edge point cloud data, the road surface point cloud data and the rod-shaped object point cloud data, and then performing downsampling to obtain the road edge point cloud data, the road surface point cloud data and the rod-shaped object point cloud data after downsampling; respectively searching point cloud data matched with the downsampled road edge point cloud data, road surface point cloud data and rod-shaped object point cloud data from a road element point cloud map, determining residual errors of the road edge, the rod-shaped object and the road surface according to the