Method and apparatus for determining road information, and vehicle

A vehicle, comprising a processor, a memory, a computer program stored on the memory and executable by the processor, wherein the vehicle is further provided with a camera, when the computer program is executed by the processor, the processor is configured to:

• trigger the camera to capture M images during driving, M being an integer greater than or equal to 2;
• perform three-dimensional reconstruction based on the M images to obtain a three-dimensional model;
• determine a first vector in the three-dimensional model, the first vector being configured to indicate a gravity direction of the three-dimensional model;
• and
• determine road information of a road where the vehicle is located based on M spatial positions and the first vector, the M spatial positions being spatial positions of the center of the camera in the three-dimensional model respectively at M time points and the M images are captured by the camera respectively at the M time points, and the road information comprises a slope type and/or a slope value;
• wherein the processor is configured to determine the road information of the road where the vehicle is located based on the M spatial positions and the first vector by:
• determining, for any two adjacent spatial positions in the M spatial positions, a fourth vector pointing from a previous spatial position to a subsequent spatial position to obtain (M-1) fourth vectors;
• calculating an angle between each fourth vector and the first vector to obtain (M-1) angles;
• and
• determining the road information of the road where the vehicle is located based on the (M-1) angles.

A non-transitory computer readable storage medium, having a computer program stored thereon, wherein when the computer program is executed by a processor, a method for determining road information is executed, the method comprising:

• obtaining M images, M being an integer greater than or equal to 2;
• performing three-dimensional reconstruction based on the M images to obtain a three-dimensional model;
• determining a first vector in the three-dimensional model, the first vector being configured to indicate a gravity direction of the three-dimensional model;
• and
• determining road information of a road where the vehicle is located based on M spatial positions and the first vector, the M spatial positions being spatial positions of the center of the camera in the three-dimensional model respectively at M time points and the M images are captured by the camera respectively at the M time points, and the road information comprises a slope type and/or a slope value;
• wherein determining the road information of the road where the vehicle is located based on the M spatial positions and the first vector comprises:
• determining, for any two adjacent spatial positions in the M spatial positions, a fourth vector pointing from a previous spatial position to a subsequent spatial position to obtain (M-1) fourth vectors;
• calculating an angle between each fourth vector and the first vector to obtain (M-1) angles;
• and
• determining the road information of the road where the vehicle is located based on the (M-1) angles.