Patent ID: 11953609
Assignee: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G  B | IPC G

Claim 15:
16. An autonomous driving vehicle using the method according to claim 1, comprising:
a global positioning apparatus, configured to acquire, in response to determining that there is no high-definition map in a vehicle, intermediate pose information of the vehicle based on at least one of a global navigation satellite system an inertial measurement unit in the vehicle, and determine the intermediate pose information as global positioning information, wherein the global positioning information comprises global pose information and global attitude angle information;
a local positioning apparatus, configured to acquire local positioning information of the vehicle, wherein the local positioning information is positioning information acquired by the positioning apparatus of the vehicle based on a coordinate system with an initial position of the vehicle as an origin point and the local positioning information comprises local pose information and local attitude angle information; and
a pose image optimization apparatus, configured to perform fusion processing on the global pose information and the local pose information to obtain fused pose information, and perform compensation processing on the fused pose information according to the global attitude angle information and the local attitude angle information to obtain a position of the vehicle;
wherein the global attitude angle information comprises a global roll angle and a global pitch angle, and the local attitude angle information comprises a local roll angle and a local pitch angle;
wherein the performing compensation processing on the fused pose information according to the global attitude angle information and the local attitude angle informationn to obtain a position of the vehicle comprises:
determining a first compensation parameter according to the global roll angle and the local roll angle, and determining a second compensation parameter according to the global pitch angle and the local pitch angle; and
performing compensation proceessing on the fused pose information according to the first compensation parameter and the second compensation parameter to obtain the position of the vehicle.