Automatic driving reversing road section identification method and device, equipment and medium

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Automatic driving reversing road section identification method and device, equipment and medium

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LIN HONGZHEN / YANG MENG / TIAN LEI / ZHANG ZHICUN / LI MINGHUI

The invention provides an automatic driving reversing road section identification method and device, equipment and a medium. The method comprises the steps that the index sequence of discrete points of a driving track is obtained, the displacement direction angle of each discrete point is obtained according to the index sequence, and information of the discrete points comprises course angles; acquiring a displacement course included angle according to a first difference value between the displacement direction angle and the course angle; according to the displacement course included angle and a preset included angle threshold value, whether the discrete point is a candidate reversing point or not is obtained; candidate reversing segments are obtained according to the distance between the candidate reversing points, and each candidate reversing segment at least comprises one candidate reversing point; and obtaining a final reversing segment according to the number of the candidate reversing points in the candidate reversing segment. According to the method, the reversing road section can be well identified, and stable reversing can be carried out.

本申请提供一种自动驾驶倒车路段识别方法、装置、设备和介质。该方法包括：获取行驶轨迹的离散点的索引顺序，并根据所述索引顺序获取各个所述离散点的位移方向角，其中，所述离散点的信息中包括航向角；根据所述位移方向角和所述航向角的第一差值，获取位移航向夹角；根据所述位移航向夹角和预设夹角阈值，获取所述离散点是否为候选倒车点；根据所述候选倒车点之间的距离，获取候选倒车分段，其中，每个所述候选倒车分段至少包括一个所述候选倒车点；根据所述候选倒车分段中的候选倒车点的数量，获取最终倒车分段。本申请的方法可以很好识别倒车路段，并进行稳定倒车。

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Title :

Automatic driving reversing road section identification method and device, equipment and medium

Additional title:

自动驾驶倒车路段识别方法、装置、设备和介质

Contributors:

LIN HONGZHEN (author) / YANG MENG (author) / TIAN LEI (author) / ZHANG ZHICUN (author) / LI MINGHUI (author)

Publication date :

2023-12-22

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