VEHICLE POSITIONING METHOD AND APPARATUS, AND POSITIONING MAP LAYER GENERATION METHOD AND APPARATUS

摘要

A vehicle (10) positioning method and apparatus, a positioning map layer generation method and apparatus, and a positioning map layer updating method and apparatus. The vehicle (10) positioning method comprises: obtaining a first position and a first pose of the vehicle (10) at a first time point by at least using data from a satellite navigation system (110) and an inertial measurement unit (112) (S204); obtaining the first laser point cloud data of a first local geographical region comprising the first position by using the sensor data of a laser radar (114) of the vehicle (10) (S208); and using the first laser point cloud data and a pre-constructed first positioning map layer of the first local geographical region to correct the first position and the first pose, so as to obtain a corrected position and a corrected pose of the vehicle (10) at the first time point (S212), wherein the first positioning map layer is configured to store the identifiers and weight values of a plurality of voxels, the plurality of voxels comprise at least one part of each voxel obtained by voxelizing the second laser point data of the first local geographical region that is obtained when constructing the first positioning map layer, and the weight value of the voxel represents the degree of possibility that the voxel is occupied by a geographical environment object. The method and apparatus can improve positioning stability and reduce storage space required by the positioning map layer.