The invention discloses a high-precision map and
sensor fusion based location method of a ramp of an underground parking garage. The location method comprises the following steps of a step 1), when an autonomous vehicle is enabled to begins entering the ramp of the underground parking garage, apperceiving the type of the ramp by an in-vehicle gradient sensor, so as to obtain the information that the vehicle is enabled to begins entering the ramp of the underground parking garage; a step 2), when the autonomous vehicle is enabled to begins entering the ramp, measuring distances of the vehicle to two walls by
radar sensors on two sides of the vehicle, judging the starting point, at the ramp, of the vehicle in a matching manner by the distances and the high-precision map in a matching manner, and establishing a three-dimensional coordinate
system in the matching manner according to the relative position, , at the ramp, of the starting point and the high-precision map in the matching manner; a step 3), subjecting a known path to digital curving to obtain the formula of the known path, and correspondingly moving transferring into the three-dimensional coordinate
system; a step 4), after the autonomous vehicle is enabled to enters the ramp, calculating the running mileage of the vehicle through a wheel speed pulse
signal output value, matching the mileage with the formula of the path subjected to the curving to obtain the point coordinates of a corresponding curve length, namely the location coordinates of the vehicle in the coordinate
system at the moment, of a corresponding curve length.