The invention discloses a curve recognition method, device and equipment and a storage medium, and relates to the technical field of automatic driving, and the curve recognition method comprises the steps: obtaining the coordinates of a data point of a lane virtual center line within a preset distance in front of a vehicle in a vehicle coordinate system; determining a filtering curvature radius data set of the lane virtual center line according to the coordinates under the own vehicle coordinate system; traversing the filtering curvature radius data set, acquiring sampling point index information and sampling point filtering curvature radius of a current sampling point, and determining curve section starting point information and curve section ending point information according to the sampling point index information and the sampling point filtering curvature radius; and determining target curve section information according to the curve section starting point information and the curve section ending point information so as to complete curve recognition. According to the scheme, the continuous curve information in a certain range in front of the vehicle can be recognized in real time.
本申请公开了一种弯道识别方法、装置、设备及存储介质,涉及自动驾驶技术领域,公开了弯道识别方法,包括:获取自车前方预设距离内的车道虚拟中心线的数据点在自车坐标系下的坐标;根据所述自车坐标系下的坐标确定所述车道虚拟中心线的滤波曲率半径数据集;遍历所述滤波曲率半径数据集,获取当前采样点的采样点索引信息和采样点滤波曲率半径,并根据所述采样点索引信息和所述采样点滤波曲率半径确定弯道段起始点信息和弯道段终止点信息;根据所述弯道段起始点信息和所述弯道段终止点信息确定目标弯道段信息,以完成弯道识别。本申请的方案可以实现对自车前方一定范围内的连续弯道信息进行实时识别。
Curve recognition method and device, equipment and storage medium
弯道识别方法、装置、设备及存储介质
2025-03-07
Patent
Electronic Resource
Chinese
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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