The invention provides a slope determination method and device in a high-speed curve scene, a vehicle and a storage medium, and belongs to the technical field of vehicle automatic drive.The method comprises the steps that a plurality of position points of an automatic driving vehicle in the high-speed curve driving scene are obtained, and the turning radiuses of the position points are determined; the plurality of position points comprise a plurality of actual position points and a plurality of predicted position points; determining an objective function based on the position point and the turning radius, wherein the objective function comprises a smoothness cost function, a distance cost function and an offset cost function; and determining a constraint condition of the target function, fitting the plurality of actual position points and the plurality of predicted position points based on the target function and the constraint condition to obtain a slope line, and determining a slope based on the slope line. According to the invention, the slope determination efficiency and accuracy are improved.

    本发明提供了一种高速弯道场景下的坡度确定方法、装置、车辆及存储介质,属于车辆自动驾驶技术领域,其方法包括:获取自动驾驶车辆在高速弯道驾驶场景下的多个位置点,并确定所述位置点处的转弯半径;所述多个位置点包括多个实际位置点和多个预测位置点;基于所述位置点和所述转弯半径确定目标函数,所述目标函数包括平顺度代价函数、距离代价函数以及偏置量代价函数;确定所述目标函数的约束条件,并基于所述目标函数和所述约束条件对所述多个实际位置点和所述多个预测位置点进行拟合,获得坡度线,基于所述坡度线确定坡度。本发明提高了坡度的确定效率和准确率。


    Access

    Download


    Export, share and cite



    Title :

    Gradient determination method and device in high-speed curve scene, vehicle and storage medium


    Additional title:

    高速弯道场景下的坡度确定方法、装置、车辆及存储介质


    Contributors:
    XIA RANFEI (author) / YAN XU (author) / WANG YU (author) / LIU XIAOLONG (author)

    Publication date :

    2024-08-09


    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



    Vehicle curve speed control method and device, vehicle and storage medium

    MA HONGTAO | European Patent Office | 2025

    Free access

    Curve scene lane nearest preceding vehicle screening method and storage medium

    TIAN HE / LIANG YONGBIN / LI TIANHUI et al. | European Patent Office | 2025

    Free access

    Gradient determination method and device, vehicle and storage medium

    YANG WUZHAO / HUANG LI / ZHANG QUN et al. | European Patent Office | 2023

    Free access

    Vehicle speed curve determination method and device, electronic equipment and computer medium

    WEI SHOUYANG / CAO ZHIWEI / YANG HAIQUAN et al. | European Patent Office | 2023

    Free access

    Radar misrecognition prevention method in curve scene, storage medium and device

    CHEN MENG / WU PENG / LU XINYUE et al. | European Patent Office | 2023

    Free access