The invention provides a curve transverse gradient estimation method, device and equipment and a storage medium, and the method comprises the steps: employing a vehicle-mounted laser radar to scan a front curve in real time when a vehicle turns, and obtaining the width of the curve and the continuous at least three frames of curve outer boundary point cloud data of a fixed radar ray; determining a normal vector of an outer boundary position point of a middle frame of the at least three continuous frames; determining an inner boundary optimal position point of the outer boundary position point of the middle frame on a horizontal plane where the normal vector is located; in subsequent curve inner boundary point cloud data, determining a position point with the shortest Euclidean distance with the inner boundary optimal position point as an inner boundary optimal matching point; and calculating the transverse gradient of the curve in front of the vehicle according to the position point of the outer boundary of the middle frame and the optimal matching point of the inner boundary. Compared with the prior art, the method has the advantages that the directivity of the transverse gradient result is correct, and accurate real-time data is provided for transverse control during turning of the vehicle.

    本申请提供一种弯道横向坡度估计方法、装置、设备及存储介质,包括:在车辆过弯时采用车载激光雷达实时扫描前方弯道,获得弯道宽度以及固定雷达射线的连续至少三帧的弯道外边界点云数据;确定所述连续至少三帧的中间帧外边界位置点的法向量;确定所述中间帧外边界位置点在所述法向量所在水平面上的内边界最优位置点;在后续的弯道内边界点云数据中,确定出与所述内边界最优位置点之间欧氏距离最短的位置点作为内边界最优匹配点;根据所述中间帧外边界位置点与所述内边界最优匹配点计算得到车辆前方弯道的横向坡度。相较于现有技术,本申请保证了该横向坡度结果方向性的正确,为车辆转弯时的横向控制提供准确的实时数据。


    Access

    Download


    Export, share and cite



    Title :

    Bend transverse gradient estimation method, device and equipment and storage medium


    Additional title:

    一种弯道横向坡度估计方法、装置、设备及存储介质


    Contributors:
    ZHAO XINGYANG (author) / ZHANG BENXI (author) / LIU XIAOBO (author) / LI BIN (author) / WANG WENHAO (author)

    Publication date :

    2024-01-23


    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



    Gradient estimation method, storage medium and electronic equipment

    HOU YIMENG / CHEN CAI / HUANG JUN | European Patent Office | 2020

    Free access

    Vehicle, transverse speed estimation method and device thereof and storage medium

    ZHANG LUNWEI / XU ZHONGYI / XU FEI et al. | European Patent Office | 2023

    Free access

    Joint estimation method for longitudinal gradient and transverse gradient of road

    GONG XINLE / LI XUEYUN / HUANG JIN et al. | European Patent Office | 2023

    Free access

    Vehicle transverse control method, device and equipment and storage medium

    HUH EUN-YOUNG / HE SHUILONG / FU JIAN et al. | European Patent Office | 2023

    Free access

    Transverse anti-collision method and device, equipment and storage medium

    BENIN | European Patent Office | 2024

    Free access