{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1390914",
  "publishedAt": "2025-12-17T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/165",
    "ANHUI NIO AUTONOMOUS DRIVING TECH CO LTD [CN]"
  ],
  "textContent": "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.",
  "title": "POSITIONING METHOD FOR AUTONOMOUS VEHICLE, APPARATUS, READABLE STORAGE MEDIUM AND VEHICLE"
}