Vehicle Positioning Method and Vehicle Positioning Apparatus
AssigneeHuawei Technologies Co., Ltd.
InventorsXueming Peng, Junqiang Shen, Qi Chen
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Abstract
A vehicle positioning method and apparatus, where the vehicle positioning method includes obtaining measurement information within preset angle coverage at a current frame moment using a measurement device, determining, based on the measurement information, current road boundary information corresponding to the current frame moment, determining first target positioning information based on the current road boundary information, determining road curvature information based on the current road boundary information and historical road boundary information, and outputting the first target positioning information and the road curvature information.
Claims20
A vehicle positioning method, comprising:
- obtaining measurement information within preset angle coverage at a current frame moment using a measurement device, wherein the measurement information comprises a plurality of pieces of static target information, indicating information about a plurality of static targets, and wherein the pieces of static target information have a one-to-one correspondence with the information about the static targets;
- determining, based on the measurement information, current road boundary information corresponding to the current frame moment;
- determining, based on the current road boundary information, first target positioning information indicating a location of a target vehicle on a road;
- determining, based on the current road boundary information and historical road boundary information, road curvature information indicating a bending degree of the road on which the target vehicle is located, wherein the historical road boundary information comprises road boundary information corresponding to a historical frame moment occurring before the current frame moment and at which the road boundary information and road curvature information are obtained;
- and
- outputting the first target positioning information and the road curvature information.
An apparatus comprising:
- a non-transitory storage medium configured to store instructions;
- and
- a processor coupled to the non-transitory storage medium, wherein the instructions cause the processor to be configured to:
- obtain measurement information within preset angle coverage at a current frame moment using a measurement device, wherein the measurement information comprises a plurality of pieces of static target information indicating information about a plurality of static targets, and wherein the pieces of static target information have a one-to-one correspondence with the information about the static targets;
- determine, based on the measurement information, current road boundary information corresponding to the current frame moment;
- determine, based on the current road boundary information, first target positioning information indicating a location of a target vehicle on a road;
- determine, based on the current road boundary information and historical road boundary information, road curvature information indicating a bending degree of the road on which the target vehicle is located, wherein the historical road boundary information comprises road boundary information corresponding to a historical frame moment occurring before the current frame moment and at which the road boundary information and road curvature information are obtained;
- and
- output the first target positioning information and the road curvature information.
Dependencies are inferred from the claim text.