Title:
VEHICLE POSITIONING METHOD AND APPARATUS, AND VEHICLE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/238026
Kind Code:
A1
Abstract:
A vehicle positioning method and apparatus, and a vehicle, and a storage medium. The vehicle positioning method comprises: recognizing a site entrance (102); obtaining an indoor semantic map of the site according to the site entrance, the indoor semantic map comprising semantic feature points of the site (103); correcting positioning information of a vehicle in the indoor semantic map according to the semantic feature point obtained by the vehicle during a movement (104); and obtaining the positioning information of the vehicle according to movement information of the vehicle relative to the previous semantic feature point (105). Since the selected features are semantic and easily recognizable features of the road, the data volume for these points in each site is very limited, and the complexity of the processing algorithm is greatly simplified.
Inventors:
LI HONGJUN (CN)
CHAI WENNAN (CN)
LIU ZHONGYUAN (CN)
HUANG YA (CN)
CHAI WENNAN (CN)
LIU ZHONGYUAN (CN)
HUANG YA (CN)
Application Number:
PCT/CN2020/121581
Publication Date:
December 02, 2021
Filing Date:
October 16, 2020
Export Citation:
Assignee:
GUANGZHOU XIAOPENG AUTOPILOT TECH CO LTD (CN)
International Classes:
G01S19/49; G01C21/20
Foreign References:
| CN111521186A | 2020-08-11 | |||
| CN109029418A | 2018-12-18 | |||
| CN110967023A | 2020-04-07 | |||
| CN105931124A | 2016-09-07 | |||
| CN106802151A | 2017-06-06 | |||
| US20110054791A1 | 2011-03-03 |
Other References:
See also references of EP 3936822A4
Attorney, Agent or Firm:
JIAQUAN IP LAW (CN)
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