CN112363192A - Lane positioning method and device, vehicle, electronic equipment and storage medium - Google Patents
Lane positioning method and device, vehicle, electronic equipment and storage medium Download PDFInfo
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- CN112363192A CN112363192A CN202011056949.5A CN202011056949A CN112363192A CN 112363192 A CN112363192 A CN 112363192A CN 202011056949 A CN202011056949 A CN 202011056949A CN 112363192 A CN112363192 A CN 112363192A
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004590 computer program Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 2
- 238000012216 screening Methods 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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Abstract
The embodiment of the invention discloses a lane positioning method, a lane positioning device, a vehicle, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring image information in a vehicle field of view, and identifying first lane line information of each lane line in the field of view according to the image information; inquiring road information corresponding to the position of the vehicle from a prestored map, wherein the position of the vehicle is obtained according to satellite navigation, and the road information comprises lane information and second lane line information; matching the first lane line information with the second lane line information to obtain a matched lane line; and obtaining the lane of the vehicle running on the road according to the lane information corresponding to the matched lane line. According to the embodiment of the invention, the lane of the vehicle running on the road can be determined through the acquired image information in the vehicle field of view and the prestored map. Compared with the prior art, the method has the advantages that the high-precision (RTK) positioning is not needed, the realization cost is low, and the lane where the vehicle runs can be accurately identified under the condition that the RTK fails.
Description
Technical Field
The invention relates to the technical field of internet, in particular to a lane positioning method and device, a vehicle, electronic equipment and a storage medium.
Background
Under the scenes of navigation, driving assistance, automatic driving and the like, the vehicle often needs to know the specific lane where the vehicle is located to effectively remind a user, such as lane changing, entrance and exit, turning and the like, and for automatic driving, the vehicle also needs to know the located lane to carry out the next driving planning.
In the prior art, a Global Navigation Satellite System (GNSS) is generally used for positioning, but the accuracy is on the meter level, and lanes cannot be accurately distinguished. Although the problem of high-precision positioning can be solved to a certain extent by using the RTK, the RTK fails under the condition of no satellite signal, so that the method is adopted to identify the specific lane where the vehicle is located, and the method is large in limitation and poor in applicability.
Disclosure of Invention
Based on the problems in the prior art, embodiments of the present invention provide a lane positioning method and apparatus, a vehicle, an electronic device, and a storage medium.
In a first aspect, an embodiment of the present invention provides a lane positioning method, including:
acquiring image information in a vehicle field of view, and identifying first lane line information of each lane line in the field of view according to the image information;
inquiring road information corresponding to the position of a vehicle from a prestored map, wherein the position of the vehicle is obtained according to satellite navigation positioning, and the road information comprises lane information and second lane line information;
matching the first lane line information with the second lane line information to obtain a matched lane line;
and obtaining the lane of the vehicle running on the road according to the lane information corresponding to the matched lane line.
Further, the matching the first lane line information and the second lane line information to obtain a matched lane line includes:
obtaining the type of each lane line and the arrangement sequence of each lane line in the field of view according to the first lane line information;
and inquiring the lane lines matched with the types and the arrangement sequence of the lane lines in the field of view from the second lane line information.
Further, the obtaining of the lane where the vehicle runs on the road according to the lane information corresponding to the matched lane line includes:
acquiring lane information of a matched lane line, wherein the lane information comprises lane numbers;
and obtaining the lane of the vehicle running on the road according to the lane number.
Further, after the road information corresponding to the position of the vehicle is inquired from the pre-stored map, the method further comprises the following steps:
and if the inquired road information is multiple, screening the multiple road information according to the driving direction of the vehicle.
Further, when the lane in which the vehicle travels in the road is obtained as a plurality of lanes, the method further includes:
and recording the times of changing the lane of the vehicle to the left or the right, updating the lane number according to the times, and updating the obtained lane of the vehicle running in the road when the leftmost lane line or the rightmost lane line is detected.
Further, the acquiring image information in the vehicle field of view includes:
and acquiring image information in the vehicle visual field based on the vehicle-mounted camera.
In a second aspect, an embodiment of the present invention provides a lane positioning device, including:
the acquisition module is used for acquiring image information in a vehicle field of view and identifying first lane line information of each lane line in the field of view according to the image information;
the system comprises a query module, a processing module and a display module, wherein the query module is used for querying road information corresponding to the position of a vehicle from a prestored map, the position of the vehicle is obtained according to satellite navigation positioning, and the road information comprises lane information and second lane line information;
the matching module is used for matching the first lane line information with the second lane line information to obtain a matched lane line;
and the lane positioning module is used for obtaining the lane of the vehicle running in the road according to the lane information corresponding to the matched lane line.
In a third aspect, an embodiment of the present invention provides a vehicle including: the lane positioning device according to the embodiment of the second aspect.
In a fourth aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the lane positioning method according to the first aspect is implemented.
In a fifth aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the lane positioning method according to the first aspect.
According to the technical scheme, the lane positioning method, the lane positioning device, the vehicle, the electronic equipment and the storage medium provided by the embodiment of the invention can determine the lane of the vehicle running in the road through the acquired image information in the vehicle field and the pre-stored map. Compared with the prior art, the method has the advantages that the high-precision (RTK) positioning is not needed, the implementation cost is low, the lane where the vehicle runs can be accurately identified under the condition that the RTK fails, and the applicability is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a lane positioning method according to an embodiment of the present invention;
fig. 2 is a schematic view of first lane line information of each lane line in a field of view recognized according to image information in the lane positioning method according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating road information corresponding to a position where a vehicle is located in a map prestored in a lane positioning method according to an embodiment of the present invention;
FIG. 4 is a partial enlarged view of the road information shown in FIG. 3;
fig. 5 is a block diagram of a lane positioning device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
A lane positioning method, a lane positioning apparatus, a vehicle, an electronic device, and a storage medium according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 shows a flowchart of a lane positioning method according to an embodiment of the present invention, and as shown in fig. 1, the lane positioning method according to the embodiment of the present invention specifically includes the following steps:
s101: the method comprises the steps of obtaining image information in a vehicle field of view, and identifying first lane line information of each lane line in the field of view according to the image information.
In the present embodiment, the vehicle field of view refers to a predetermined range in front of the vehicle, for example: including the lane in which the vehicle is located and the left and right lanes.
In an embodiment of the present invention, the image information in the vehicle field of view is acquired, and the image information in the vehicle field of view may be acquired by the vehicle-mounted camera, that is: and acquiring image information in the vehicle visual field based on the vehicle-mounted camera.
In this example, the lane lines in the field of view may be detected by image recognition techniques, such as: 3 lanes (i.e., the own lane, the lane immediately to the left of the own lane, and the lane immediately to the right of the own lane) are detected, and lane line information of each lane, which is referred to as first lane line information in this example, can be recognized. For example: the lane line information includes a solid line and a dotted line. As shown in fig. 2, the information of the sequential lane lines arranged from left to right are sequentially real, virtual, and real, defined as left 1, left 2, right 1, and right 2, etc., according to the position from the center of the screen. It should be noted that if a certain lane line is vacant, it may be defined as X.
S102: and inquiring road information corresponding to the position of the vehicle from a pre-stored map, wherein the position of the vehicle is obtained according to satellite navigation positioning, and the road information comprises lane information and second lane line information.
The map is pre-existing, and the map records road information of each road, wherein the road information includes, but is not limited to, the number of lanes, the increase and decrease of the number of lanes, the virtual and real types of lane lines, the color of the lane lines, and the like. As shown in fig. 3, the number of lanes of each road recorded in the map, wherein thicker lines in fig. 3 represent roads including 3 lanes, thinner lines identify roads including 2 lanes, and as can be seen from fig. 3, a road located laterally above is a road of 3 lanes, a road located laterally below and longitudinally is a road of 2 lanes, and at a position where a lateral lane and a longitudinal lane of 2 lanes meet, a small section of a road of 3 lanes is included for straight, left-turn and right-turn use. As shown in fig. 4, a short section of 3-lane roadway where a 2-lane roadway of the bus meets a 2-lane roadway of the lateral.
In this embodiment, the position of the vehicle is obtained according to the satellite navigation positioning, for example: the vehicle is located by a Global Navigation Satellite System (GNSS).
Since GNSS does not have high-precision positioning, positioning usually has errors in meter-level range, and especially in the case of dense roads, such as overhead roads, main roads and auxiliary roads, multiple road information may be queried. Therefore, in one embodiment of the present invention, if there are a plurality of pieces of queried road information, the plurality of pieces of road information are further filtered according to the driving direction of the vehicle. That is, since the plurality of pieces of road information may have different directions, a part of the mismatching pieces of road information can be eliminated by the traveling direction of the vehicle.
S103: and matching the first lane line information with the second lane line information to obtain a matched lane line. The matching mode may be that the first lane line information is matched with the second lane line information, and certainly, the second lane line information may also be matched with the first lane line information.
S104: and obtaining the lane of the vehicle running on the road according to the lane information corresponding to the matched lane line.
In an embodiment of the present invention, matching the first lane line information and the second lane line information to obtain a matched lane line includes: obtaining the type of each lane line and the arrangement sequence of each lane line in the field of view according to the first lane line information; and inquiring the lane lines matched with the types and the arrangement sequence of the lane lines in the field of view from the second lane line information.
In this example, obtaining the lane where the vehicle travels in the road according to the lane information corresponding to the matched lane line includes: acquiring lane information of a matched lane line, wherein the lane information comprises lane numbers; and obtaining the lane of the vehicle running on the road according to the lane number.
As a specific example, since the innermost and outermost lane lines are generally solid lines, which lane is located in can be determined by comparing or fuzzy matching with the first lane line information. For example, lane numbers defined from left to right are 1, 2, 3, …, etc. in terms of driving direction, and the solid-dotted marks may be "real", "real-dotted real", "real-real", etc. according to the record in the map, and X may match any lane line. Thus, for example: if the first lane line information corresponds to the real, virtual and real lane line information, the same lane line information can be matched from the second lane line information. Furthermore, based on the matched lane line, which lane the vehicle is currently located on can be determined according to the lane number.
In one embodiment of the present invention, when the lane in which the vehicle travels in the road is obtained as a plurality, the method further includes: and recording the times of changing the lane of the vehicle to the left or the right, updating the lane number according to the times, and updating the obtained lane of the vehicle running in the road when the leftmost lane line or the rightmost lane line is detected. That is, if the number of road lanes > is the number of lanes in the field of view, for example, the number of lanes > is 4, and a solid line cannot be detected due to occlusion or other reasons, there may be a plurality of candidate lanes.
At this time, when left 1 or right 1 approaches the center of the screen, a doubling process may be marked, subtracting 1 from the left doubling lane number, and adding 1 to the right doubling lane number. Until the realization is seen, the lane where the current vehicle is located can be determined to be which lane.
According to the lane positioning method provided by the embodiment of the invention, the lane in which the vehicle runs in the road can be determined through the acquired image information in the vehicle visual field and the prestored map. Compared with the prior art, the method has the advantages that the high-precision (RTK) positioning is not needed, the implementation cost is low, the lane where the vehicle runs can be accurately identified under the condition that the RTK fails, and the applicability is high.
Fig. 5 is a block diagram of a lane locating apparatus according to an embodiment of the present invention. As shown in fig. 5, the lane positioning device according to one embodiment of the present invention includes: an acquisition module 510, a query module 520, a matching module 530, and a lane locating module 540. Wherein:
the acquiring module 510 is configured to acquire image information in a vehicle field of view, and identify first lane line information of each lane line in the field of view according to the image information;
the query module 520 is configured to query road information corresponding to a location of a vehicle from a pre-stored map, where the location of the vehicle is obtained according to satellite navigation positioning, and the road information includes lane information and second lane line information;
a matching module 530, configured to match the first lane line information with the second lane line information to obtain a matched lane line;
and the lane positioning module 540 is configured to obtain a lane where the vehicle runs on the road according to the lane information corresponding to the matched lane line.
According to the lane positioning device provided by the embodiment of the invention, the lane of the vehicle running in the road can be determined through the acquired image information in the vehicle visual field and the prestored map. Compared with the prior art, the method has the advantages that the high-precision (RTK) positioning is not needed, the implementation cost is low, the lane where the vehicle runs can be accurately identified under the condition that the RTK fails, and the applicability is high.
It should be noted that a specific implementation manner of the lane positioning device in the embodiment of the present invention is similar to that of the lane positioning method in the embodiment of the present invention, and please refer to the description of the method part specifically, and details are not repeated here in order to reduce redundancy.
Further, an embodiment of the present invention also provides a vehicle including: the lane positioning device according to the above-mentioned embodiments. The vehicle can determine the lane of the vehicle running on the road through the acquired image information in the vehicle field of view and the prestored map. Compared with the prior art, the method has the advantages that the high-precision (RTK) positioning is not needed, the implementation cost is low, the lane where the vehicle runs can be accurately identified under the condition that the RTK fails, and the applicability is high.
Based on the same inventive concept, another embodiment of the present invention provides an electronic device, which specifically includes the following components, with reference to fig. 6: a processor 601, a memory 602, a communication interface 603, and a communication bus 604;
the processor 601, the memory 602 and the communication interface 603 complete mutual communication through the communication bus 604; the communication interface 603 is used for implementing information transmission between the devices;
the processor 601 is configured to call a computer program in the memory 602, and when the processor executes the computer program, the processor implements all the steps of the above lane positioning method, for example, when the processor executes the computer program, the processor implements the following steps: acquiring image information in a vehicle field of view, and identifying first lane line information of each lane line in the field of view according to the image information; inquiring road information corresponding to the position of a vehicle from a prestored map, wherein the position of the vehicle is obtained according to satellite navigation positioning, and the road information comprises lane information and second lane line information; matching the first lane line information with the second lane line information to obtain a matched lane line; and obtaining the lane of the vehicle running on the road according to the lane information corresponding to the matched lane line.
Based on the same inventive concept, a further embodiment of the present invention provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs all the steps of the above-mentioned lane locating method, for example, when the processor executes the computer program, the processor performs the following steps: acquiring image information in a vehicle field of view, and identifying first lane line information of each lane line in the field of view according to the image information; inquiring road information corresponding to the position of a vehicle from a prestored map, wherein the position of the vehicle is obtained according to satellite navigation positioning, and the road information comprises lane information and second lane line information; matching the first lane line information with the second lane line information to obtain a matched lane line; and obtaining the lane of the vehicle running on the road according to the lane information corresponding to the matched lane line.
In addition, the logic instructions in the memory may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions may be essentially or partially implemented in the form of software products, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and include instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the index monitoring method according to the embodiments or some parts of the embodiments.
In addition, in the present invention, terms such as "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Moreover, in the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Furthermore, in the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A lane positioning method, comprising:
acquiring image information in a vehicle field of view, and identifying first lane line information of each lane line in the field of view according to the image information;
inquiring road information corresponding to the position of a vehicle from a prestored map, wherein the position of the vehicle is obtained according to satellite navigation positioning, and the road information comprises lane information and second lane line information;
matching the first lane line information with the second lane line information to obtain a matched lane line;
and obtaining the lane of the vehicle running on the road according to the lane information corresponding to the matched lane line.
2. The lane positioning method of claim 1, wherein the matching the first lane line information and the second lane line information to obtain a matched lane line comprises:
obtaining the type of each lane line and the arrangement sequence of each lane line in the field of view according to the first lane line information;
and inquiring the lane lines matched with the types and the arrangement sequence of the lane lines in the field of view from the second lane line information.
3. The lane positioning method according to claim 1 or 2, wherein obtaining the lane in which the vehicle travels in the road according to the lane information corresponding to the matched lane line comprises:
acquiring lane information of a matched lane line, wherein the lane information comprises lane numbers;
and obtaining the lane of the vehicle running on the road according to the lane number.
4. The lane positioning method according to claim 1, further comprising, after searching for road information corresponding to a location of the vehicle from a pre-stored map:
and if the inquired road information is multiple, screening the multiple road information according to the driving direction of the vehicle.
5. The lane locating method according to claim 1, wherein when a plurality of lanes are obtained in which the vehicle travels in the road, further comprising:
and recording the times of changing the lane of the vehicle to the left or the right, updating the lane number according to the times, and updating the obtained lane of the vehicle running in the road when the leftmost lane line or the rightmost lane line is detected.
6. The lane locating method of claim 1, wherein the obtaining image information in a field of view of a vehicle comprises:
and acquiring image information in the vehicle visual field based on the vehicle-mounted camera.
7. A lane positioning device, comprising:
the acquisition module is used for acquiring image information in a vehicle field of view and identifying first lane line information of each lane line in the field of view according to the image information;
the system comprises a query module, a processing module and a display module, wherein the query module is used for querying road information corresponding to the position of a vehicle from a prestored map, the position of the vehicle is obtained according to satellite navigation positioning, and the road information comprises lane information and second lane line information;
the matching module is used for matching the first lane line information with the second lane line information to obtain a matched lane line;
and the lane positioning module is used for obtaining the lane of the vehicle running in the road according to the lane information corresponding to the matched lane line.
8. A vehicle, characterized by comprising: the lane locating device of claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the lane positioning according to any of claims 1 to 6 when executing the computer program.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the lane positioning method according to any one of claims 1 to 6.
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| CN202011056949.5A CN112363192A (en) | 2020-09-29 | 2020-09-29 | Lane positioning method and device, vehicle, electronic equipment and storage medium |
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| CN202011056949.5A CN112363192A (en) | 2020-09-29 | 2020-09-29 | Lane positioning method and device, vehicle, electronic equipment and storage medium |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113804214A (en) * | 2021-11-19 | 2021-12-17 | 智道网联科技(北京)有限公司 | Vehicle positioning method and device, electronic equipment and computer readable storage medium |
| CN114323005A (en) * | 2021-12-28 | 2022-04-12 | 上汽大众汽车有限公司 | Method for positioning micro divergent road |
| CN114359870A (en) * | 2021-12-27 | 2022-04-15 | 广州小鹏自动驾驶科技有限公司 | Data processing method and device |
| WO2023179030A1 (en) * | 2022-03-24 | 2023-09-28 | 商汤集团有限公司 | Road boundary detection method and apparatus, and electronic device, storage medium and computer program product |
| WO2024027142A1 (en) * | 2022-08-04 | 2024-02-08 | 中兴通讯股份有限公司 | Positioning calibration method and device, and storage medium |
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