The invention relates to the technical field of automatic driving, and discloses a fusion correction method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining point cloud data collected by a laser radar; road edge detection is carried out according to the point cloud data, and a region of interest between road edges is determined; road boundary lines are determined, and a first sub-region located between the road boundary lines in the region of interest is determined; judging whether the course angle of the vehicle needs to be corrected or not according to the matching condition between the point cloud data in the first sub-region and the point cloud data in the region of interest; under the condition that correction is needed, the deviation angle of the vehicle course is determined, and the vehicle course angle is corrected according to the deviation angle. According to the method, judgment is performed according to the matching condition between the point cloud data in the sub-region and the point cloud data in the region of interest, the processing mode is simple, whether correction is needed or not can be accurately determined, the deviation angle is determined when correction is needed, the size of the deviation angle does not need to be calculated in real time, and the processing amount can be reduced.
本发明涉及自动驾驶技术领域,公开了融合矫正方法、装置、计算机设备及存储介质,该方法包括:获取激光雷达采集到的点云数据;根据点云数据进行路沿检测,确定路沿之间的感兴趣区域;确定道路边界线,并确定感兴趣区域中位于道路边界线之间的第一子区域;根据第一子区域中的点云数据与感兴趣区域中的点云数据之间的匹配情况,判断是否需要对车辆航向角进行矫正;在需要矫正的情况下,确定车辆航向的偏差角,并根据偏差角修正车辆航向角。本发明利用子区域与感兴趣区域内点云数据之间的匹配情况进行判断,处理方式简单,且可以比较准确地确定是否需要矫正,在需要矫正时再确定偏差角,不需要实时计算偏差角的大小,可以减少处理量。
Fusion correction method and device, computer equipment and storage medium
融合矫正方法、装置、计算机设备及存储介质
2024-02-27
Patent
Electronic Resource
Chinese
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