본 출원의 실시예는 측위 방법과 장치, 자율 주행 차량, 전자기기와 저장매체를 개시하며, 자율 주행 기술분야에 관한 것으로서, 기설정 시간 동안에 관성 측정 유닛에 의해 측정된 제1 위치 자세 정보를 수집하고, 시간 동안에 휠 속도계에 의해 측정된 제2 위치 자세 정보를 수집하고, 제1 위치 자세 정보, 제2 위치 자세 정보와 인접 프레임 이미지를 기초로, 측위 정보를 생성하고, 측위 정보를 기초로, 자율 주행 차량의 주행을 제어한다. 관성 측정 유닛과 휠 속도계 각각에 대응되는 제1 위치 자세 정보와 제2 위치 자세 정보를 결합시켜, 측위 정보에 대해 추정하며, 관성 측정 유닛과 휠 속도계는 카메라에 비해, 쉽게 외계 환경의 간섭을 받지 않으므로, 측위 정보가 외계 환경의 간섭을 받는 것을 방지할 수 있으며, 이에 따라 측위 정보의 정확성과 신뢰성을 향상시키고, 이에 따라 자율 주행 차량의 안전 및 신뢰적인 주행을 구현한다.

    Embodiments of the present application disclose a positioning method and apparatus, an autonomous driving vehicle, an electronic device and a storage medium, relating to the field of autonomous driving technologies, comprising: collecting first pose information measured by an inertial measurement unit within a preset time period, and collecting second pose information measured by a wheel tachometer within the time period; generating positioning information according to the first pose information, the second pose information and the adjacent frame images; controlling driving of the autonomous driving vehicle according to the positioning information. The positioning information is estimated by combining the first pose information and the second pose information corresponding to the inertial measurement unit and the wheel tachometer respectively. Compared with the camera, the inertial measurement unit and the wheel tachometer are not prone to be interfered by the external environment. Therefore, the interference of the positioning information by the external environment can be avoided, thereby improving the accuracy and reliability of the positioning information, so that the autonomous driving vehicle can drive safely and reliably.


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    Title :

    POSITIONING METHOD AND APPARATUS AUTONOMOUS DRIVING VEHICLE ELECTRONIC DEVICE AND STORAGE MEDIUM


    Additional title:

    측위 방법과 장치, 자율 주행 차량, 전자기기와 저장매체


    Publication date :

    2023-08-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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