Positioning method and device of autonomous vehicle and electronic equipment

• Main Authors: ZHANG HAIQIANG, LI YAN, FEI ZAIHUI
• Format: Patent
• Language: Chinese; English
• Published: 25.07.2023
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses a positioning method and device for an automatic driving vehicle and electronic equipment, and the method comprises the steps: obtaining the positioning information of a vehicle at a failure moment and corresponding high-precision map data when the multi-sensor positioning of the automatic driving vehicle fails; determining the lane line type of the lane where the vehicle is located according to the positioning information at the failure moment and the high-precision map data; determining whether the own vehicle meets a preset visual positioning requirement according to the lane line type of the lane where the own vehicle is located; and if yes, performing visual positioning according to a road image collected by the vehicle side blind compensation camera, the positioning information at the failure moment and the high-precision map data. According to the method, under the condition that multi-sensor positioning fails and only depends on visual positioning, through the lane line attribu