Position determination method, device, and system, and computer-readable storage medium

A position determination device, comprising:

• a processor;
• and
• a memory coupled to the processor and storing instructions which, when executed by the processor, cause the processor to:
• control a lidar device arranged on a vehicle body of a vehicle to scan at a current position point to obtain laser point cloud data;
• acquire the laser point cloud data as reference point cloud data, and acquire point cloud data corresponding to a preset starting point of the vehicle in a point cloud map as target point cloud data, wherein a position of the preset starting point is known and before the vehicle enters an automatic driving state, the vehicle is arranged at or near the preset starting point;
• divide the target point cloud data into ground target point cloud data and non-ground target point cloud data, and divide the reference point cloud data into ground reference point cloud data and non-ground reference point cloud data;
• determine a first transformation matrix according to the ground target point cloud data and the ground reference point cloud data;
• determine a second transformation matrix according to the first transformation matrix, the non-ground target point cloud data, and the non-ground reference point cloud data;
• determine coordinate information of the current position point according to coordinate information of the preset starting point, the first transformation matrix and the second transformation matrix to obtain an initial position of the vehicle;
• transform preset orientation information corresponding to the preset starting point according to the first transformation matrix to obtain first orientation information, and take a roll angle value and a pitch angle value in the first orientation information as a current roll angle value and a pitch angle value of the vehicle;
• and
• transform the first orientation information according to the second transformation matrix to obtain second orientation information, and take a yaw angle value in the second orientation information as a current yaw angle value of the vehicle.

A non-transitory computer-readable storage medium storing computer programs, which when executed by a processor, cause the processor to:

• control a lidar device arranged on a vehicle body of a vehicle to scan at a current position point to obtain laser point cloud data;
• acquire the laser point cloud data as reference point cloud data, and acquire point cloud data corresponding to a preset starting point of the vehicle in a point cloud map as target point cloud data, wherein a position of the preset starting point is known and before the vehicle enters an automatic driving state, the vehicle is arranged at or near the preset starting point;
• divide the target point cloud data into ground target point cloud data and non-ground target point cloud data, and divide the reference point cloud data into ground reference point cloud data and non-ground reference point cloud data;
• determine a first transformation matrix according to the ground target point cloud data and the ground reference point cloud data;
• determine a second transformation matrix according to the first transformation matrix, the non-ground target point cloud data, and the non-ground reference point cloud data;
• determine coordinate information of the current position point according to coordinate information of the preset starting point, the first transformation matrix and the second transformation matrix to obtain an initial position of the vehicle;
• transform preset orientation information corresponding to the preset starting point according to the first transformation matrix to obtain first orientation information, and take a roll angle value and a pitch angle value in the first orientation information as a current roll angle value and a pitch angle value of the vehicle;
• and
• transform the first orientation information according to the second transformation matrix to obtain second orientation information, and take a yaw angle value in the second orientation information as a current yaw angle value of the vehicle.