The embodiment of the invention discloses a slope area marking method and device, equipment and a storage medium. The method comprises the following steps: acquiring track points of a driving track, wherein each track point comprises height coordinates of a vehicle; the height curvature of the track points is calculated, and the track points with the height curvature larger than a preset curvature threshold value serve as slope entering and exiting points; the slope entering and exiting point with the covariance of the adjacent left side larger than the covariance of the adjacent right side and the covariance ratio of the left side to the right side larger than a preset ratio threshold value serves as a slope exiting point, and the slope entering and exiting point with the covariance of the adjacent left side smaller than the covariance of the adjacent right side and the covariance ratio of the right side to the left side larger than the ratio threshold value serves as a slope entering point; and the slope entering point and the slope exiting point with the maximum covariance ratio in all the continuous slope entering points and all the continuous slope exiting points are screened out, and the road section between the screened slope entering point and the slope exiting point adjacent to the right side is marked as a corresponding slope area. By adopting the technical means, the technical problems of low efficiency and high cost of manually marking the slope area in the prior art are solved.

    本申请实施例公开了一种斜坡区域标记方法、装置、设备及存储介质。该方法包括:获取行驶轨迹的轨迹点,每个轨迹点包括车辆的高度坐标;计算轨迹点的高度曲率,将高度曲率大于预设曲率阈值的轨迹点作为出入坡点;相邻左侧协方差大于相邻右侧协方差,且左侧与右侧的协方差比值大于预设比值阈值的出入坡点作为出坡点,将相邻左侧协方差小于相邻右侧协方差,且右侧与左侧的协方差比值大于该比值阈值的出入坡点作为入坡点;筛选出所有连续入坡点和所有连续出坡点中协方差比值最大的入坡点和出坡点,将筛选出的入坡点和右侧相邻的出坡点之间的路段标记为对应的斜坡区域。采用上述技术手段,解决了现有技术人工标记斜坡区域效率低成本高的技术问题。


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    Title :

    Slope area marking method and device, equipment and storage medium


    Additional title:

    一种斜坡区域标记方法、装置、设备及存储介质


    Contributors:
    LIN YANLONG (author)

    Publication date :

    2022-11-11


    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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