The invention discloses a lane curvature acquisition method and device, a vehicle, a medium and equipment, and belongs to the field of data processing. The method comprises the following steps: calculating direction angle offsets of a starting point and an ending point of a target lane; calculating the average radius of the target lane by using the distance and the direction angle offset of the target lane; calculating the number of segments of the target lane according to the average radius to obtain a first number of target lane segments; respectively extracting a front lane segment and a rear lane segment according to the lane passing direction of the target lane; performing curve fitting on the front lane segment, the target lane segment and the rear lane segment to obtain a second number of fitting curves and corresponding curvatures thereof; fitting check is carried out on the second number of fitting curves and the target lane segments, and an average error is obtained; and outputting the curvature of the target lane by using the second number of fitting curves and the average error. According to the method, the consistency of curvature precision and the high efficiency of curvature acquisition are effectively ensured.

    本申请公开了一种车道曲率获取方法、装置、车辆、介质及设备,属于数据处理领域。该方法包括计算目标车道的起始点和终止点的方向角偏移量;利用目标车道的距离和方向角偏移量,计算得到目标车道的平均半径;根据平均半径计算目标车道的分段数量,得到第一数目个目标车道分段;根据目标车道的车道通行方向,分别提取前方车道分段和后方车道分段;对前方车道分段、目标车道分段和后方车道分段进行曲线拟合,得到第二数目条拟合曲线及其对应的曲率;对第二数目条拟合曲线与目标车道分段进行拟合检查,得到平均误差;利用第二数目条拟合曲线和平均误差,输出目标车道的曲率。本申请有效的保证了曲率精度的一致性和曲率获取的高效性。


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    Title :

    Lane curvature acquisition method and device, vehicle, medium and equipment


    Additional title:

    车道曲率获取方法、装置、车辆、介质及设备


    Contributors:
    SHEN ZHAN (author) / QI HANG (author) / LIU YUZHANG (author) / SHAN LE (author)

    Publication date :

    2023-10-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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