Vehicle positioning method, apparatus and autonomous driving vehicle

A vehicle positioning method, comprising:

• in response to determining that there is no high-definition map in a vehicle, acquiring intermediate pose information of the vehicle based on at least one of a global navigation satellite system and an inertial measurement unit in the vehicle, and determining the intermediate pose information as global positioning information, wherein the global positioning information comprises global pose information and global attitude angle information;
• acquiring local positioning information of the vehicle, wherein the local positioning information is positioning information acquired by a 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 performing fusion processing on the global pose information and the local pose information to obtain fused pose information;
• and
• performing 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 information 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 processing on the fused pose information according to the first compensation parameter and the second compensation perameter to obtain the position of the vehicle.