Positioning method, device, and electronic apparatus

A system for positioning, comprising a processor and a non-transitory computer-readable storage medium storing instructions executable by the processor to cause the system to perform operations comprising:

• obtaining a Global Navigation Satellite System (GNSS) position of a vehicle;
• obtaining, based on the GNSS position of the vehicle, standard positioning data around a road where the vehicle is located from preset standard positioning data, wherein the standard positioning data comprises laser point data of key points of road objects with stable attributes on or by either side of the road;
• obtaining laser point cloud data, outputted by a laser sensor of the vehicle, around the road where the vehicle is located;
• extracting to-be-matched positioning data around the road where the vehicle is located from the laser point cloud data, wherein the to-be-matched positioning data comprises laser point data of key points of at least one road object with a stable attribute on or by either side of the road where the vehicle is located;
• forward simulating a motion state of the vehicle based on more than one sampling positions corresponding to the vehicle at a previous moment, to obtain more than one sampling positions corresponding to the vehicle at a current moment;
• converting the to-be-matched positioning data into a coordinate system corresponding to the standard positioning data based on the more than one sampling positions corresponding to the vehicle at the current moment;
• matching the to-be-matched positioning data in the converted coordinate system with the standard positioning data, to obtain a probability that the vehicle is located at each sampling position corresponding to the vehicle at the current moment based on a matching result;
• and
• obtaining a position of the vehicle based on the probability that the vehicle is located at each sampling position corresponding to the vehicle at the current moment.

A non-transitory computer-readable storage medium for positioning, configured with instructions executable by one or more processors to cause the one or more processors to perform operations comprising:

• obtaining a Global Navigation Satellite System (GNSS) position of a vehicle;
• obtaining, based on the GNSS position of the vehicle, standard positioning data around a road where the vehicle is located from preset standard positioning data, wherein the standard positioning data comprises laser point data of key points of road objects with stable attributes on or by either side of the road;
• obtaining laser point cloud data, outputted by a laser sensor of the vehicle, around the road where the vehicle is located;
• extracting to-be-matched positioning data around the road where the vehicle is located from the laser point cloud data, wherein the to-be-matched positioning data comprises laser point data of key points of at least one road object with a stable attribute on or by either side of the road where the vehicle is located;
• forward simulating a motion state of the vehicle based on more than one sampling positions corresponding to the vehicle at a previous moment, to obtain more than one sampling positions corresponding to the vehicle at a current moment;
• converting the to-be-matched positioning data into a coordinate system corresponding to the standard positioning data based on the more than one sampling positions corresponding to the vehicle at the current moment;
• matching the to-be-matched positioning data in the converted coordinate system with the standard positioning data, to obtain a probability that the vehicle is located at each sampling position corresponding to the vehicle at the current moment based on a matching result;
• and
• obtaining a position of the vehicle based on the probability that the vehicle is located at each sampling position corresponding to the vehicle at the current moment.