Patent ID: 11951992
Assignee: GUANGZHOU AUTOMOBILE GROUP CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A vehicle positioning method operated in a vehicle, the vehicle comprising a global positioning system and a camera sensor, the method comprising:
obtaining a priori position of the vehicle in a map based on the global positioning system when the vehicle is in a running state;
obtaining running image data collected by the camera sensor of the vehicle in a target area where the priori position is located;
recognizing the running image data by using a vector map of the target area, so as to acquire lateral position information and longitudinal position information about a position where the vehicle is located currently;
determining a target lane on which the vehicle is located according to the transverse position information, and positioning a driving position of the vehicle in the target lane according to the longitudinal position information; and
performing an assisted driving action according to the target lane on which the vehicle is locate and the driving position of the vehicle in the target lane;
wherein recognizing the running image data by using a vector map of the target area, so as to acquire lateral position information and longitudinal position information about a position where the vehicle is located currently comprises:
performing visual recognition on the running image data by using a visual recognition technique so as to obtain a recognition result;
matching the vector map and the recognition result, so as to determine road information about a region in the running image data where the vehicle is located currently, wherein the road information comprises a road network and a fixed road object located beside a road; and
acquiring the lateral position information and the longitudinal position information about the current position of the vehicle according to the road information;
wherein acquiring the longitudinal position information about the current position of the vehicle according to the road information comprises:
acquiring, according to the road information, a roadway parameter of a fitted lane corresponding to the target lane where the vehicle is located, wherein the roadway parameter comprises a target lane radius;
reading a reference lane radius of the target lane from the vector map;
comparing the target lane radius to the reference lane radius; and
determining the driving position of the vehicle in the target lane according to the comparison result, so as to obtain the longitudinal position information of the vehicle.