Machine positioning map generation and machine ubiquitous positioning method for automatic driving

The invention discloses a machine positioning map generation and machine ubiquitous positioning method for automatic driving. According to the method, firstly, a virtual laser radar is combined with an existing 3D point cloud map to generate simulation virtual scanning, then fingerprint feature and global feature extraction is performed on the virtual scanning, fingerprint feature and global feature extraction is performed on a query frame from a positioning laser radar sensor, candidate position search is performed by using a KD tree, and a 3D point cloud map is obtained. And then using a two-stage similarity estimation method to calculate the similarity between the query frame and all candidate positions so as to determine the candidate positions, and finally using a generalized nearest point iteration method to determine the position of the autonomous vehicle carrying the multi-line laser radar sensor. According to the invention, the multi-line laser radar is used as a positioning sensor, high-precision po