The invention discloses a vehicle driving control method and device, a vehicle and a storage medium, and belongs to the technical field of vehicles. The method comprises the steps that radar point cloud data and a road image of a target road where a vehicle runs currently are obtained, the radar point cloud data are obtained through detection of a 4D millimeter wave radar installed in front of the vehicle, and the road image is obtained through collection of a camera installed in front of the vehicle; determining detection parameters of each detection point on the target road based on the radar point cloud data, wherein the detection parameters comprise a distance, an azimuth angle and a height; road condition information of a target road is determined based on the detection parameters of the detection points and the road image, and the road condition information comprises height limitation information, width limitation information and/or road gradient; and controlling the vehicle to run based on the road condition information. Vehicle driving is controlled through the road condition information, so that the comprehensiveness of road environment perception in the vehicle driving control process is improved, and the safety of vehicle driving control is improved.

    本申请公开了一种车辆的行驶控制方法、装置、车辆及存储介质,属于车辆技术领域。该方法包括:获取车辆当前所行驶的目标道路的雷达点云数据和道路图像,该雷达点云数据为该车辆前方安装的4D毫米波雷达探测得到的,该道路图像为该车辆前方安装的摄像头采集得到的;基于该雷达点云数据确定目标道路上的各个探测点的探测参数,该探测参数包括:距离、方位角和高度;基于该各个探测点的探测参数和该道路图像,确定目标道路的路况信息,该路况信息包括:高度限制信息、宽度限制信息和/或道路坡度;基于该路况信息,控制该车辆行驶。本申请通过路况信息控制车辆行驶,以提高车辆行驶控制过程中对道路环境感知的全面性,提高车辆行驶控制的安全性。


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    Title :

    Vehicle driving control method and device, vehicle and storage medium


    Additional title:

    车辆的行驶控制方法、装置、车辆及存储介质


    Contributors:
    HU GUANGSHAN (author) / JI YAKUN (author) / DING JIAN (author) / WANG HANLIN (author) / WU YUANYUAN (author)

    Publication date :

    2024-05-07


    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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