POSITIONING METHOD FOR AUTONOMOUS VEHICLE, APPARATUS, READABLE STORAGE MEDIUM AND VEHICLE

The disclosure relates to the field of autonomous driving technologies, and provides a positioning method for an autonomous vehicle, a control apparatus, a readable storage medium, and a vehicle, which are intended to solve the problem of how to effectively improve the safety of autonomous driving and usage experience of users. In the method, a Kalman filter algorithm is applied to perform real-time estimations on deviation data between a map matching result and a real-time dynamic differential positioning result of an autonomous vehicle, so that the map matching result or the real-time dynamic differential positioning result can be compensated based on real-time estimated deviation data during real-time positioning of the autonomous vehicle. Therefore, when one of the map matching result or the real-time dynamic differential positioning result is missing, the missing data is obtained based on the other positioning result, which ensures a global positioning capability of the autonomous vehicle, and enables autonomous driving functions to be enabled on the autonomous vehicle in more scenarios, thereby effectively improving usage experience of users.