POSITIONING METHOD, DEVICE, AND ELECTRONIC APPARATUS

Title:

POSITIONING METHOD, DEVICE, AND ELECTRONIC APPARATUS

Document Type and Number:

WIPO Patent Application WO/2020/093939

Kind Code:

A1

Abstract:

A positioning method, a device, and an electronic apparatus. The method comprises: acquiring, on the basis of a GNSS position of a vehicle, reference positioning data of the road surroundings of the vehicle (S320); extracting, from laser point cloud data of the road surroundings output by a laser sensor of the vehicle, positioning data awaiting matching of the road surroundings (S330, S340), the reference positioning data and the positioning data awaiting matching both comprising laser point data of key points of easily identifiable road objects having stable properties on the road around the vehicle and/or on two sides of the road; performing, on the basis of one or more sampling positions corresponding to the vehicle at a previous time instance, forward simulation of a motion state of the vehicle, and acquiring one or more sampling positions corresponding to the vehicle at the present time instance (S350); converting, on the basis of the one or more sampling positions corresponding to the vehicle at the present time instance, the positioning data awaiting matching into a coordinate system corresponding to the reference positioning data, matching the same against the reference positioning data, and obtaining the probability of the vehicle being located at each sampling position (S360, S370); and obtaining, on the basis of the probability of the vehicle being located at each sampling position, a high-precision position of the vehicle (S380). The provided positioning method determines a high-precision position of a vehicle in a fast and accurate manner.

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Inventors:

CHEN CHENG (CN)
ZHOU SHUAI (CN)
XU QIANG (CN)

Application Number:

PCT/CN2019/114961

Publication Date:

May 14, 2020

Filing Date:

November 01, 2019

Export Citation:

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Assignee:

ALIBABA GROUP HOLDING LTD (CN)

International Classes:

G01S19/48

Foreign References:

CN108732603A	2018-11-02
US20150331111A1	2015-11-19
CN108068792A	2018-05-25
CN107850449A	2018-03-27
CN108732584A	2018-11-02
US20140233010A1	2014-08-21

Attorney, Agent or Firm:

BEIJING SANYOU INTELLECTUAL PROPERTY AGENCY LTD. (CN)

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