VEHICLE POSITIONING METHOD AND APPARATUS FOR TARGET SCENE REGION, DEVICE AND STORAGE MEDIUM

摘要

Provided are a vehicle positioning method and apparatus for a target scene region, a computer device, and a storage medium. The method comprises: acquiring the current position and the real-time position and attitude of a vehicle at a previous moment (S210); determining a road region where the vehicle is located according to the current position, the road region comprising an adjacent transition region and a target scene region (S220); and determining a real-time position and attitude determination mode according to the road region, and determining the real-time position and attitude of the vehicle at a current moment on the basis of the real-time position and attitude at the previous moment and the real-time position and attitude determination mode, wherein when the road region is the transition region, the real-time position and attitude of the vehicle at the current moment is determined on the basis of a preset grid map, a lidar real-time single-frame point cloud collected at the current moment, and the real-time position and attitude at the previous moment; and when the road region is the target scene region, the real-time position and attitude of the vehicle at the current moment is determined on the basis of a preset lidar point cloud map, the lidar real-time single-frame point cloud collected at the current moment, and the real-time position and attitude at the previous moment (S230). The method may achieve high-precision positioning in the target scene region.