The invention discloses a method, device and equipment for calculating the curvature radius of a rear road and a medium, and the method comprises the steps: obtaining the target vehicle speed and position coordinates of a target vehicle behind a vehicle in real time, and obtaining the historical track points of the target vehicle; wherein the vehicle is in a static state, and the target vehicle is in a moving state; filtering the historical track points to obtain filtered historical track points; performing curve fitting according to the filtered historical track points to obtain a historical track curve of the target vehicle; and calculating the curvature radius of the road behind the vehicle according to the historical track curve. According to the method, the historical track points of the rear target vehicle are obtained through the vehicle-mounted sensor when the vehicle is static, curve fitting is conducted, then the curvature radius of the rear road is calculated, and the problems that when the vehicle is static, due to the fact that backward and lateral vision sensors are lacked or lane lines are not obvious or disappear are solved; and therefore, the problem that the rear road cannot be effectively modeled is solved.
本发明公开了一种后方道路曲率半径的计算方法、装置、设备及介质,所述方法包括:实时获取自车后方目标车辆的目标车速以及位置坐标,得到所述目标车辆的历史轨迹点;其中,所述自车为静止状态,所述目标车辆为运动状态;对历史轨迹点进行滤波处理,得到滤波后的历史轨迹点;根据滤波后的历史轨迹点进行曲线拟合,得到目标车辆的历史轨迹曲线;根据历史轨迹曲线计算得到自车后方道路的曲率半径。本发明通过车载传感器获取自车静止时后方目标车辆的历史轨迹点并进行曲线拟合,进而计算得到后方道路的曲率半径,解决了自车处于静态时由于缺少后向以及侧向视觉传感器或者车道线不明显、消失等情况,导致无法有效对后方道路进行建模的问题。
Method, device and equipment for calculating curvature radius of rear road and medium
一种后方道路曲率半径的计算方法、装置、设备及介质
2024-02-20
Patent
Electronic Resource
Chinese
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