Road curvature determination method and device, electronic equipment and storage medium

Abstract

This application provides a method, apparatus, electronic device, and storage medium for determining road curvature, relating to the field of data processing technology. The method obtains the road number of a target vehicle's current location and the offset distance between the target vehicle's current location and the starting point of the road. It then matches the road number and offset distance with data in a database to obtain a matching result, which may be a successful match or a failed match. Finally, the road curvature at the target vehicle's current location is determined based on the matching result. This solves the problems of complexity and low efficiency in related technologies for determining road curvature. It achieves the effect of improving the efficiency and simplifying the method.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, in particular to a road curvature determination method and device, electronic equipment and storage medium. BACKGROUND

[0002] With the development of science and technology, automatic driving vehicles are becoming more and more popular. In the process of realizing automatic driving of vehicles, the road on which the vehicle travels may have a certain curvature, and the processing module of the vehicle needs to obtain the road curvature at the current position of the vehicle in order to regulate the steering angle and speed of the vehicle and other parameters, thereby realizing automatic driving.

[0003] A road curvature determination method in the related art uses a special detection instrument to detect the road curvature in order to provide the road curvature for the driving of the vehicle. However, the method of obtaining the road curvature by using a special detection instrument has a high cost, and cannot simply obtain most or all of the road curvatures, so that the road curvature determination method in the related art is relatively complex and has a low efficiency. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the present application provides a road curvature determination method, device, electronic equipment and storage medium to solve the above-mentioned technical problems.

[0005] The road curvature determination method provided by the present application comprises:

[0006] obtaining the road number at the current position of the target vehicle and the offset distance between the current position of the target vehicle and the starting point of the road;

[0007] matching the road number at the current position of the target vehicle and the offset distance with the contents in the database to obtain a matching result, the matching result including a matching success or a matching failure, the database including a plurality of pre-cached curvature data, any one of the curvature data including the road number of the road where the sampling point is located, the offset distance between the sampling point and the starting point of the road, and the road curvature of the sampling point;

[0008] determining the road curvature at the current position of the target vehicle according to the matching result.

[0009] In an embodiment of the present application, the determination of the road curvature at the current position of the target vehicle according to the matching result comprises:

[0010] when the matching result is a matching success, the road curvature of the sampling point with the same road number and offset distance as the current position of the target vehicle is determined as the road curvature at the current position of the target vehicle;

[0011] When the matching result is a matching failure, a road curvature of the current position of the target vehicle is determined according to a road number of the current position of the target vehicle, an offset distance, and a sampling point adjacent to the current position of the target vehicle in the database.

[0012] In an embodiment of the present application, the determination of the road curvature of the current position of the target vehicle according to the road number of the current position of the target vehicle, the offset distance, and the sampling point adjacent to the current position of the target vehicle in the database comprises:

[0013] According to the road number of the current position of the target vehicle, the curvature data of the sampling point adjacent to the front of the driving direction of the target vehicle and the curvature data of the sampling point adjacent to the rear of the driving direction of the target vehicle are obtained in the database.

[0014] According to the offset distance of the target vehicle, the curvature data of the sampling point adjacent to the front of the driving direction of the target vehicle, and the curvature data of the sampling point adjacent to the rear of the driving direction of the target vehicle, the road curvature of the current position of the target vehicle is determined.

[0015] In an embodiment of the present application, the determination of the road curvature of the current position of the target vehicle according to the offset distance of the target vehicle, the curvature data of the sampling point adjacent to the front of the driving direction of the target vehicle, and the curvature data of the sampling point adjacent to the rear of the driving direction of the target vehicle comprises:

[0016] According to a curvature formula, the offset distance of the target vehicle, the curvature data of the sampling point adjacent to the front of the driving direction of the target vehicle, and the curvature data of the sampling point adjacent to the rear of the driving direction of the target vehicle, the road curvature of the current position of the target vehicle is determined.

[0017] The curvature formula comprises:

[0018]

[0019] In the formula, the Value is the road curvature of the current position of the target vehicle, the offset is the offset distance of the target vehicle, the Rvalue is the road curvature of the sampling point adjacent to the front of the driving direction of the target vehicle, the Roffset is the offset distance of the sampling point adjacent to the front of the driving direction of the target vehicle, the Lvalue is the road curvature of the sampling point adjacent to the rear of the driving direction of the target vehicle, and the Loffset is the offset distance of the sampling point adjacent to the rear of the driving direction of the target vehicle.

[0020] In an embodiment of the present application, the determination of the road curvature of the current position of the target vehicle according to the offset distance of the target vehicle, the curvature data of the sampling point adjacent to the front of the driving direction of the target vehicle, and the curvature data of the sampling point adjacent to the rear of the driving direction of the target vehicle further comprises:

[0021] averaging the road curvatures of the sampling points adjacent to the target vehicle in the driving direction of the target vehicle to obtain an average road curvature;

[0022] determining the average road curvature as the road curvature of the current position of the target vehicle.

[0023] To achieve the above object and other related objects, the present application provides a road curvature determination device, comprising:

[0024] a data acquisition module configured to acquire the road number of the current position of the target vehicle and the offset distance between the current position of the target vehicle and the starting point of the road;

[0025] a data matching module configured to match the road number of the current position of the target vehicle and the offset distance with the content in a database to obtain a matching result, wherein the matching result includes matching success or matching failure, and the database includes a plurality of pre-cached curvature data, any one of the curvature data including the road number of the road where the sampling point is located, the offset distance between the sampling point and the starting point of the road, and the road curvature of the sampling point;

[0026] a data processing module configured to determine the road curvature of the current position of the target vehicle according to the matching result.

[0027] In an embodiment of the present application, the data processing module is further configured to:

[0028] when the matching result is matching success, determining the road curvature of the sampling point with the same road number and offset distance as the current position of the target vehicle as the road curvature of the current position of the target vehicle;

[0029] when the matching result is matching failure, determining the road curvature of the current position of the target vehicle according to the road number and offset distance of the current position of the target vehicle and the sampling points adjacent to the current position of the target vehicle in the database.

[0030] In an embodiment of the present application, the data processing module is further configured to:

[0031] acquiring the curvature data of the sampling points adjacent to the target vehicle in the driving direction of the target vehicle and the curvature data of the sampling points adjacent to the target vehicle in the driving direction of the target vehicle according to the road number of the current position of the target vehicle in the database;

[0032] determining the road curvature of the current position of the target vehicle according to the offset distance of the target vehicle, the curvature data of the sampling points adjacent to the target vehicle in the driving direction of the target vehicle and the curvature data of the sampling points adjacent to the target vehicle in the driving direction of the target vehicle.

[0033] To achieve the above object and other related objects, the present application further provides an electronic device, which comprises:

[0034] one or more processors;

[0035] a storage device configured to store one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the road curvature determination method according to any one of the preceding embodiments.

[0036] To achieve the above object and other related objects, the present application further provides a computer-readable storage medium, which stores a computer program, which, when executed by a processor of a computer, causes the computer to perform the road curvature determination method according to any one of the preceding embodiments.

[0037] As described above, the present application provides a road curvature determination method, device, electronic device and storage medium, which have the following beneficial effects:

[0038] The road curvature determination method provided by the present application obtains the road number of the current position of the target vehicle and the offset distance between the current position of the target vehicle and the starting point of the road, and matches the road number of the current position of the target vehicle and the offset distance with the content in the database to obtain a matching result, wherein the matching result includes matching success or matching failure, and finally determines the road curvature of the current position of the target vehicle according to the matching result. The present application matches the road number of the current position of the target vehicle and the offset distance with the content in the database, and determines the road curvature of the current position of the target vehicle according to the matching result, which can determine the road curvature of the current position of the target vehicle more simply. The problem of complex and low efficiency of the road curvature determination method in the related art is solved. The effect of improving the efficiency and simplifying the road curvature determination method is achieved.

[0039] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0040] The drawings incorporated into the specification and forming a part thereof, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. In the drawings:

[0041] Figure 1 is a flowchart of the road curvature determination method according to an exemplary embodiment of the present application;

[0042] Figure 2 is a block diagram of a road curvature determination device according to an example embodiment of the present application;

[0043] Figure 3 A structural diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application is shown. DETAILED DESCRIPTION

[0044] The present application will be described in detail with reference to the attached drawings and preferred embodiments, and other advantages and effects of the present application will be easily understood by those skilled in the art from the disclosure of the present application. The present application can be implemented or applied in other different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, and not for limiting the scope of protection of the present application.

[0045] It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the diagrams, not the number, shape and size of the components when actually implemented. The shape, number and ratio of the components when actually implemented can be arbitrarily changed, and the layout of the components can be more complex.

[0046] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application, however, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details, and in other embodiments, the known structures and devices are shown in the form of block diagrams rather than in the form of details to avoid making the embodiments of the present application difficult to understand.

[0047] Please refer to Figure 1 , Figure 1 is a flowchart of a road curvature determination method according to an example embodiment of the present application. Referring to Figure 1 It can be seen that the road curvature determination method can include:

[0048] In step S110, the road number of the current position of the target vehicle and the offset distance between the current position of the target vehicle and the starting point of the road are obtained.

[0049] In an embodiment of the present application, the vehicle-mounted system of the target vehicle can obtain the road number of the current position of the target vehicle and the vehicle distance between the current position of the target vehicle and the starting point of the road. The driving path of the target vehicle can include a plurality of roads, and the vehicle-mounted system of the target vehicle can determine the road where the target vehicle is currently located according to the road numbers of the plurality of roads and the road number of the current position of the target vehicle.

[0050] Step S120: Match the road number and offset distance of the target vehicle's current location with the contents of the database to obtain the matching result.

[0051] The matching results include whether the match is successful or unsuccessful. The database includes multiple pre-cached curvature data. Each curvature data includes the road number of the road where the sampling point is located, the offset distance between the sampling point and the starting point of the road, and the road curvature of the sampling point.

[0052] In one embodiment of this application, the onboard system of the target vehicle can match the road number and offset distance of the target vehicle's current location with the contents of the database and obtain the matching result. The onboard system of the target vehicle can obtain multiple curvature data based on the Adasis (Advanced Driver Assistant Systems) V2 protocol and cache the multiple curvature data in the database.

[0053] Step S130: Determine the road curvature of the target vehicle's current location based on the matching results.

[0054] In one embodiment of this application, the on-board system of the target vehicle can determine the road curvature at the current position of the target vehicle based on the matching result, so as to change the steering wheel angle and speed of the target vehicle according to the road curvature at the current position of the target vehicle.

[0055] In an exemplary embodiment, step S130, which determines the road curvature of the target vehicle's current position based on the matching result, may include steps S210 and S220.

[0056] Step S210: When the matching result is successful, the road curvature of the sampling point with the same road number and offset distance as the current position of the target vehicle is determined as the road curvature of the current position of the target vehicle.

[0057] In one embodiment of this application, when the matching result is successful, the vehicle system of the target vehicle can determine the road curvature of the sampling point with the same road number and offset distance as the current location of the target vehicle as the road curvature of the current location of the target vehicle.

[0058] Step S220: When the matching result is unsuccessful, determine the road curvature of the target vehicle's current position based on the road number, offset distance, and sampling points adjacent to the target vehicle's current position in the database.

[0059] In one embodiment of this application, when the matching result is unsuccessful, the on-board system of the target vehicle can determine the road curvature of the target vehicle's current location based on the road number of the target vehicle's current location, the offset distance, and the sampling points in the database adjacent to the target vehicle's current location.

[0060] In an exemplary embodiment, step S220, which involves determining the road curvature of the target vehicle's current location based on the road number, offset distance, and sampling points adjacent to the target vehicle's current location in the database, may include steps S310 to S340.

[0061] Step S310: Based on the road number of the target vehicle's current location, obtain the curvature data of the adjacent sampling points in front of the target vehicle's driving direction and the curvature data of the adjacent sampling points behind the target vehicle's driving direction from the database.

[0062] In one embodiment of this application, the vehicle system of the target vehicle can obtain curvature data of adjacent sampling points in front of the target vehicle's driving direction and curvature data of adjacent sampling points behind the target vehicle's driving direction from the database based on the road number of the target vehicle's current location and the vehicle distance.

[0063] In one embodiment of this application, the vehicle system of the target vehicle can determine multiple curvature data that are consistent with the road number of the current location of the target vehicle. Then, based on the offset distance of the target vehicle, it determines two preset curvature data that are adjacent to the offset distance of the target vehicle from the multiple curvature data with the same road number. That is, the curvature data of the adjacent sampling point in front of the target vehicle's driving direction and the curvature data of the adjacent sampling point behind the driving direction.

[0064] In one embodiment of this application, after step S310, step S320 or step S330 may be performed according to the operator's choice.

[0065] Step S320: Determine the road curvature of the target vehicle's current position based on the curvature formula, the target vehicle's offset distance, the curvature data of the adjacent sampling points in front of the driving direction, and the curvature data of the adjacent sampling points behind the driving direction.

[0066] In one embodiment of this application, the on-board system of the target vehicle can determine the road curvature of the target vehicle's current position based on the curvature formula, the target vehicle's offset distance, the curvature data of the adjacent sampling points in front of the driving direction, and the curvature data of the adjacent sampling points behind the target vehicle's driving direction.

[0067] In one exemplary embodiment of this application, the curvature formula may include:

[0068]

[0069] Where Value is the road curvature at the current position of the target vehicle, offset is the offset distance of the target vehicle, Rvalue is the road curvature of the adjacent sampling point in front of the target vehicle in the direction of travel, Roffset is the offset distance of the adjacent sampling point in front of the target vehicle in the direction of travel, Lvalue is the road curvature of the adjacent sampling point behind the target vehicle in the direction of travel, and Loffset is the offset distance of the adjacent sampling point behind the target vehicle in the direction of travel.

[0070] Step S330: Calculate the mean road curvature of the road at the adjacent sampling points in front of the target vehicle's direction of travel and the mean road curvature of the road at the adjacent sampling points behind the target vehicle's direction of travel.

[0071] In one embodiment of this application, the on-board system of the target vehicle can average the road curvature of the adjacent sampling points in front of the target vehicle's driving direction and the road curvature of the adjacent sampling points behind the target vehicle's driving direction to obtain the average road curvature.

[0072] Step S340: Determine the mean road curvature as the road curvature at the current position of the target vehicle.

[0073] In one embodiment of this application, the on-board system of the target vehicle can determine the mean road curvature as the road curvature at the current location of the target vehicle.

[0074] In summary, the method of this application first obtains the road number of the target vehicle's current location and the offset distance between the target vehicle's current location and the starting point of the road. Then, it matches the road number and offset distance with the contents of a database to obtain a matching result, which includes whether the match is successful or unsuccessful. Finally, it determines the road curvature of the target vehicle's current location based on the matching result. This application, by matching the road number and offset distance of the target vehicle's current location with the contents of a database and determining the road curvature based on the matching result, can more easily determine the road curvature of the target vehicle's current location. It solves the problem that road curvature determination methods in related technologies are complex and inefficient. It achieves the effect of improving the efficiency and simplifying the road curvature determination method.

[0075] Figure 2 This is a block diagram illustrating a road curvature determination device according to an exemplary embodiment of this application. Figure 2 As shown, the exemplary road curvature determination device 200 includes:

[0076] The data acquisition module 210 is used to acquire the road number of the target vehicle's current location and the offset distance between the target vehicle's current location and the starting point of the road.

[0077] The data matching module 220 is used to match the road number and offset distance of the target vehicle's current location with the contents of the database to obtain the matching result. The matching result includes whether the matching is successful or unsuccessful. The database includes multiple pre-cached curvature data. Each curvature data includes the road number of the road where the sampling point is located, the offset distance between the sampling point and the starting point of the road, and the road curvature of the sampling point.

[0078] The data processing module 230 is used to determine the road curvature of the target vehicle's current position based on the matching results.

[0079] In another exemplary embodiment, the data processing module may also be used for:

[0080] When the matching result is successful, the road curvature of the sampling point with the same road number and offset distance as the current location of the target vehicle is determined as the road curvature of the current location of the target vehicle.

[0081] When the matching result is unsuccessful, the road curvature at the current location of the target vehicle is determined based on the road number, offset distance, and sampling points adjacent to the current location of the target vehicle in the database.

[0082] In another exemplary embodiment, the data processing module may also be used for:

[0083] Based on the road number of the target vehicle's current location, obtain the curvature data of the adjacent sampling points in front of the target vehicle's direction of travel and the curvature data of the adjacent sampling points behind the target vehicle's direction of travel from the database.

[0084] The road curvature at the current position of the target vehicle is determined based on the offset distance of the target vehicle, the curvature data of the adjacent sampling points in front of the driving direction, and the curvature data of the adjacent sampling points behind the driving direction.

[0085] In this exemplary road curvature determination device, the road number of the target vehicle's current position and the offset distance between the target vehicle's current position and the starting point of the road are obtained. These are then matched with data in a database to obtain a matching result, which may be a successful match or a failed match. Finally, the road curvature of the target vehicle's current position is determined based on the matching result. This application, by matching the road number and offset distance of the target vehicle's current position with data in a database and determining the road curvature based on the matching result, can more easily determine the road curvature of the target vehicle's current position. It solves the problem that road curvature determination methods in related technologies are complex and inefficient. It achieves the effect of improving the efficiency and simplifying the road curvature determination method.

[0086] It should be noted that the road curvature determination device and the road curvature determination method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the road curvature determination device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0087] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the road curvature determination method provided in the above embodiments.

[0088] Figure 3 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 3 The computer system 300 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0089] like Figure 3 As shown, the computer system 300 includes a Central Processing Unit (CPU) 301, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 302 or programs loaded from Storage Unit 308 into Random Access Memory (RAM) 303. The RAM 303 also stores various programs and data required for system operation. The CPU 301, ROM 302, and RAM 303 are interconnected via a bus 304. An Input / Output (I / O) interface 305 is also connected to the bus 304.

[0090] The following components are connected to I / O interface 305: an input section 306 including a keyboard, mouse, etc.; an output section 307 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to I / O interface 305 as needed. Removable media 311, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 310 as needed so that computer programs read from them can be installed into storage section 308 as needed.

[0091] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 309, and / or installed from removable medium 311. When the computer program is executed by central processing unit (CPU) 301, it performs various functions defined in the system of this application.

[0092] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0093] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0094] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0095] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the road curvature determination method provided in the various embodiments described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into that electronic device.

[0096] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the road curvature determination method provided in the various embodiments described above.

[0097] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method of determining a road curvature, characterized by, The method comprises: obtaining the road number of the current position of the target vehicle and the offset distance between the current position of the target vehicle and the starting point of the road; matching the road number of the current position of the target vehicle and the offset distance with the contents in the database to obtain a matching result, the matching result including matching success or matching failure, the database including a plurality of pre-cached curvature data, any of the curvature data including the road number of the road where the sampling point is located, the offset distance between the sampling point and the starting point of the road, and the road curvature of the sampling point; determining the road curvature of the current position of the target vehicle according to the matching result to change the steering wheel angle of the target vehicle and the vehicle speed of the target vehicle according to the road curvature of the current position of the target vehicle; wherein, when the matching result is matching failure, the curvature data of the adjacent sampling point in front of the driving direction of the target vehicle and the curvature data of the adjacent sampling point behind the driving direction of the target vehicle are obtained in the database according to the road number of the current position of the target vehicle; and the road curvature of the current position of the target vehicle is determined according to the offset distance of the target vehicle, the curvature data of the adjacent sampling point in front of the driving direction of the target vehicle, and the curvature data of the adjacent sampling point behind the driving direction of the target vehicle. wherein, the road curvature of the current position of the target vehicle is determined according to a curvature formula, the offset distance of the target vehicle, the curvature data of the adjacent sampling point in front of the driving direction of the target vehicle, and the curvature data of the adjacent sampling point behind the driving direction of the target vehicle. The curvature formula comprises: ； wherein, the Value is the road curvature of the current position of the target vehicle, the offset is the offset distance of the target vehicle, the Rvalue is the road curvature of the adjacent sampling point in front of the driving direction of the target vehicle, the Roffset is the offset distance of the adjacent sampling point in front of the driving direction of the target vehicle, the Lvalue is the road curvature of the adjacent sampling point behind the driving direction of the target vehicle, and the Loffset is the offset distance of the adjacent sampling point behind the driving direction of the target vehicle.

2. The road curvature determination method according to claim 1, characterized by, The determination of the road curvature of the current position of the target vehicle according to the matching result comprises: when the matching result is matching success, the road curvature of the sampling point with the same road number and offset distance as the current position of the target vehicle is determined as the road curvature of the current position of the target vehicle.

3. The road curvature determination method according to claim 1, characterized by, The determination of the road curvature of the current position of the target vehicle according to the offset distance of the target vehicle, the curvature data of the adjacent sampling point in front of the driving direction of the target vehicle, and the curvature data of the adjacent sampling point behind the driving direction of the target vehicle further comprises: averaging the road curvatures of the adjacent sampling point in front of the driving direction of the target vehicle and the adjacent sampling point behind the driving direction of the target vehicle to obtain an average road curvature; determining the average road curvature as the road curvature of the current position of the target vehicle.

4. A road curvature determination apparatus characterized by comprising: The device comprises: a data acquisition module for obtaining the road number of the current position of the target vehicle and the offset distance between the current position of the target vehicle and the starting point of the road; The data matching module is configured to match the road number of the current position of the target vehicle and the offset distance with content in a database to obtain a matching result, the matching result including a matching success or a matching failure, and the database including a plurality of pieces of pre-cached curvature data, any piece of the curvature data including a road number of a road at a sampling point, an offset distance between the sampling point and a starting point of the road, and a road curvature of the sampling point. The data processing module is configured to determine the road curvature of the current position of the target vehicle according to the matching result, and change a steering wheel turning angle of the target vehicle and a vehicle speed of the target vehicle according to the road curvature of the current position of the target vehicle. The data processing module is further configured to, when the matching result is the matching failure, acquire the curvature data of a sampling point in front of a driving direction of the target vehicle and the curvature data of a sampling point behind the driving direction of the target vehicle in the database according to the road number of the current position of the target vehicle, and determine the road curvature of the current position of the target vehicle according to the offset distance of the target vehicle, the curvature data of the sampling point in front of the driving direction, and the curvature data of the sampling point behind the driving direction. The road curvature of the current position of the target vehicle is determined according to a curvature formula, the offset distance of the target vehicle, the curvature data of the sampling point in front of the driving direction, and the curvature data of the sampling point behind the driving direction. The curvature formula includes: ； wherein the Value is the road curvature of the current position of the target vehicle, the offset is the offset distance of the target vehicle, the Rvalue is the road curvature of the sampling point in front of the driving direction of the target vehicle, the Roffset is the offset distance of the sampling point in front of the driving direction of the target vehicle, the Lvalue is the road curvature of the sampling point behind the driving direction of the target vehicle, and the Loffset is the offset distance of the sampling point behind the driving direction of the target vehicle.

5. The road curvature determination device according to claim 4, characterized by The data processing module is further configured to: when the matching result is the matching success, determine the road curvature of the sampling point with the same road number of the current position of the target vehicle and the offset distance as the road curvature of the current position of the target vehicle.

6. An electronic device, comprising: The electronic device includes: one or more processors; a storage device configured to store one or more programs that, when executed by the one or more processors, cause the electronic device to implement the road curvature determination method according to any one of claims 1 to 3.

7. A computer-readable storage medium, characterized in that, a computer program stored thereon that, when executed by a processor of a computer, causes the computer to perform the road curvature determination method according to any one of claims 1 to 3.

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