Baidu Online Network Technology (Beijing) Co., Ltd.

Beijing Baidu Netcom Science and Technology Co., Ltd.

Beijing Baidu Netcom Science Technology Co., Ltd

Apollo Intelligent Driving Technology (Beijing) Co., Ltd.

Renlan Cai

Shiyu Song

Jie Huang

Fangfang Dong

Wenjie Liu

Xiaolong Yang

Xiaotao Li

Tong Wu

Guowei Wan

Liang Peng

Pengfei Yuan

Gaifan Li

Weixin Lu

Baoqiang Xu

Yijun Yuan

Xiangyu Fu

The present application discloses a positioning method and an apparatus, which relate to the technical field of intelligent driving. A specific implementation solution is: determining a first positioning result using point cloud data collected by lidar in combination with a laser point cloud reflection value map; constructing a constraint condition using the first positioning result, where the constraint condition is used to accelerate a convergence speed of solving a receiver position using observation data; performing GNSS-PPP positioning using the constraint condition in combination with observation data of a GNSS receiver to obtain a second positioning result. Using this solution, lidar positioning technology is combined with GNSS-PPP positioning technology to realize a purpose of not relying on a GNSS base station.

Positioning method and apparatus

Embodiments of the present disclosure provide a method and apparatus for processing positioning data, a device, a storage medium and a vehicle. In the method according to the embodiments of the present disclosure, the vehicle is controlled to collect positioning data continuously in the five stages including a first stage for performing dynamic alignment, a second stage for traveling along a path of a character '8', a third stage for collecting map data, a fourth stage for traveling along a path of the character '8', and a fifth stage for performing the dynamic alignment, and processing of error convergence is performed on the positioning data collected in the third stage, according to the positioning data collected in the first stage, the second stage, the fourth stage and the fifth stage, to obtain the final positioning data after the error convergence.

Method and apparatus for processing positioning data, device, storage medium and vehicle

Embodiments of the present disclosure provide a method and apparatus for evaluating data, a device, and a computer-readable storage medium in the field of autonomous driving. The method may include: generating, at least based on satellite navigation data related to a vehicle, a reference position and posture data set of the vehicle; generating, at least based on a part of the satellite navigation data, a test position and posture data set of the vehicle, the accuracy of the test position and posture data set being lower than that of the reference position and posture data set; obtaining a revised position and posture data set for the test position and posture data set; and evaluating, based on the reference position and posture data set and the revised position and posture data set, a correction performance for the test position and posture data set.

Method and apparatus for evaluating data, device, and computer-readable storage medium

A method and an apparatus for processing information are provided. A method may include: sending a preset data acquisition request to a target data transmission end included in at least two preset data transmission ends; receiving feedback information from the target data transmission end, and determining whether the feedback information includes the acquired data; determining, in response to determining that the feedback information does not include the acquired data, whether the feedback information includes first fault information for indicating that the target data transmission end malfunctions; and selecting, in response to determining that the feedback information includes the first fault information, a data transmission end other than the target data transmission end from the at least two data transmission ends as a new target data transmission end.

Method and apparatus for processing information

The present disclosure provides an integrated positioning method and system. The method comprises: receiving IMU data, and solving for the IMU data in a first Kalman filter to obtain a system state variable of an autonomous vehicle; receiving and buffering measurement data, and regarding the measurement data as current measurement data; performing measurement updating: obtaining the system state variable at a measurement time of current measurement data, and solving in the second Kalman filter to obtain an updated system state variable; if measurement data after the measurement time of the measurement data is already buffered, regarding the already-buffered measurement data after the measurement time as current measurement data, and performing the measurement update. The present disclosure can solve the problem about measurement information disorder caused by inconsistency of time delay in solving between different sensors, and improve real time and accuracy of the positioning.

Integrated positioning method and system

The present disclosure discloses a method and apparatus for positioning a vehicle. In some embodiments, the method comprises: acquiring an a priori position of a to-be-positioned vehicle at a current positioning moment determined by performing a strapdown calculation between a previous positioning moment and the current positioning moment; determining a map area for searching in a laser point cloud reflected value map; matching a reflected value characteristic of a projection area generated by projecting a real-time laser point cloud, to obtain a map matching position according to a matching result; positioning, using the a priori position in combination with observation data of a vehicle-mounted global navigation satellite system (GNSS) receiver of the vehicle, to obtain a satellite positioning position; and fusing the a priori position, the map matching position and the satellite positioning position to generate a positioning result of positioning the vehicle at the current moment.

Method and apparatus for positioning vehicle

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Beijing, China

Renlan Cai