Vehicle positioning method and device

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 o...

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Bibliographische Detailangaben
1. Verfasser:	QI ZHONGZHENG
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	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
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Beschreibung
Zusammenfassung:	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