Self-driving vehicle positioning method, apparatus and storage medium
The present application provides a self-driving vehicle positioning method, an apparatus and a storage medium, where the method includes: obtaining reference data, where the reference data includes: state information and running path information of at least one traffic participant within a preset distance from a self-driving vehicle, and updating positioning information of the self-driving vehicle according to the reference data. In the technical solutions, when a GPS signal is weak, the self-driving vehicle can also update the positioning information in time, thereby ensuring driving safety of the self-driving vehicle, and solving a driving safety problem existing in the self-driving vehicle of the prior art.
1. A self-driving vehicle positioning method, comprising:
obtaining reference data, wherein the reference data comprises: state information and running path information of at least one traffic participant within a preset distance from a self-driving vehicle;
determining a driving direction and a running lane of each traffic participant of the at least one traffic participant based on the state information and the running path information of at least one traffic participant; and
updating the positioning information of the self-driving vehicle according to the driving direction and the running lane of the each traffic participant;
wherein the method further comprises:
receiving real-time road condition information from a network device of a current cell where the self-driving vehicle is located, wherein the real-time road condition information is obtained by the network device by monitoring a driving path of the self-driving vehicle;
wherein the method further comprises:
detecting whether a distance between a rear vehicle in the driving lane and the self-driving vehicle is less than a second preset safety distance, and when the distance between the rear vehicle in the driving lane and the self-driving vehicle is less than the second preset safety distance, transmitting an alarm indication to the rear vehicle to instruct the rear vehicle to perform a deceleration or lane change driving;
wherein the method further comprises:
controlling the self-driving vehicle to drive on a road corresponding to a preset driving path based on the updated positioning information;
wherein the controlling the self-driving vehicle to drive on a road corresponding to a preset driving path based on the updated positioning information comprises:
generating a control instruction based on the updated positioning information and the real-time road condition information; and
controlling the self-driving vehicle to drive on the road corresponding to the preset driving path based on the control instruction.
2. The method according to claim 1 , wherein the obtaining reference data comprises:
obtaining the reference data by visual perception or obstacle perception using a detection device disposed on the self-driving vehicle.
3. The method according to claim 2 , wherein the detection device comprises at least one of a laser device, a camera device, a radar device, and an infrared device.
4. The method according to claim 1 , wherein the reference data further comprises: state information of traffic signal lights, distance change information between the self-driving vehicle and an obstacle within a preset distance, running road information, moving state information, and running path information of the self-driving vehicle.
5. A self-driving vehicle positioning apparatus, comprising: a memory, a processor, and a computer program stored on the memory and operable on the processor,
wherein the processor, when running the computer program, is configured to:
obtain reference data, wherein the reference data comprises: state information and running path information of at least one traffic participant within a preset distance from a self-driving vehicle;
determine a driving direction and a running lane of each traffic participant of the at least one traffic participant based on the state information and the running path information of at least one traffic participant; and
update the positioning information of the self-driving vehicle according to the driving direction and the running lane of the each traffic participant;
wherein the processor is further configured to:
receive real-time road condition information from a network device of a current cell where the self-driving vehicle is located, wherein the real-time road condition information is obtained by the network device by monitoring a driving path of the self-driving vehicle;
wherein the processor is further configured to:
detect whether a distance between a rear vehicle in the driving lane and the self-driving vehicle is less than a second preset safety distance, and when the distance between the rear vehicle in the driving lane and the self-driving vehicle is less than the second preset safety distance, transmit an alarm indication to the rear vehicle to instruct the rear vehicle to perform a deceleration or lane change driving;
wherein the processor is further configured to:
control the self-driving vehicle to drive on a road corresponding to a preset driving path based on the updated positioning information;
wherein the processor is further configured to:
generate a control instruction based on the updated positioning information and the real-time road condition information; and
control the self-driving vehicle to drive on the road corresponding to the preset driving path based on the control instruction.
6. The apparatus according to claim 5 , wherein the processor is further configured to:
obtain the reference data by visual perception or obstacle perception using a detection device disposed on the self-driving vehicle.
7. The apparatus according to claim 6 , wherein the detection device comprises at least one of a laser device, a camera device, a radar device, and an infrared device.
8. The apparatus according to claim 5 , wherein the at least one traffic participant comprises at least one of a driving vehicle, a cyclist, and a walker.