Ramp recognition method, device and equipment, vehicle and storage medium

The invention provides a ramp recognition method, device and equipment, a vehicle and a storage medium. The method comprises the following steps: acquiring a planned driving track of a vehicle, wherein the planned driving track comprises a plurality of track points; the track points are clustered according to the height information of the track points, so that the track points are divided into N flat ground sets and M ramp sets, and N and M are integers larger than 0; wherein all track points in any set have a continuous relationship in the planned driving track; and for each ramp set, acquiring an initial slope entering point and/or an initial slope exiting point in the ramp set, and correcting the ramp set according to the slope between the initial slope entering point and the adjacent track point and/or the slope between the initial slope exiting point and the adjacent track point to generate a ramp recognition result. The embodiment of the invention is beneficial to improving the accuracy of a ramp identi