Vehicle positioning method and apparatus, storage medium, and electronic device

A vehicle positioning apparatus comprising:

• a global positioning system;
• a camera sensor;
• at least one processor coupled to the global positioning system and the camera sensor;
• and
• a data storage storing one or more programs which when executed by the at least one processor, cause the at least one processor to
• obtain 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 currently collected by the camera sensor of the vehicle in a target area where the priori position is located;
• recognize 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;
• determine a target lane in which the vehicle is located according to the transverse position information, and position 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 the at least one processor 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 the at least one processor 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.

A computer readable non-transitory storage medium having stored thereon instructions that, when executed by a processor of a vehicle, causes the vehicle to perform a vehicle positioning method, the vehicle positioning method comprising:

• obtaining a priori position of the vehicle in a map based on a global positioning system of the vehicle when the vehicle is in a running state;
• obtaining running image data collected by a 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.