The embodiment of the invention discloses a vehicle course angle determination method, device and equipment. The method comprises the steps that a first pixel reference point and a second pixel reference point of a road intersection are acquired, the first pixel reference point is located in a first boundary area, and the second pixel reference point is located in a second boundary area; the first boundary area is a boundary area of a first intersection straight line area and an intersection center area which sequentially need to pass along the driving direction of a vehicle, and the second boundary area is a boundary area of the intersection center area and a second intersection straight line area which sequentially need to pass along the driving direction; judging whether a pixel point position corresponding to the vehicle driving position is located in an area which is smaller than the first pixel reference point and larger than the second pixel reference point in the longitudinal direction or not, and obtaining a first judgment result; and if the first judgment result shows that the position of the pixel point is located in an area which is smaller than the first pixel reference point and larger than the second pixel reference point in the longitudinal direction, determining the course angle of the vehicle according to a first positioning point and a second positioning point on a vehicle driving path.
本说明书实施例公开了一种车辆航向角的确定方法、装置及设备。方法包括:获取道路路口的第一像素参考点和第二像素参考点,其中,所述第一像素参考点位于第一分界区域中,所述第二像素参考点位于第二分界区域中;所述第一分界区域为沿车辆的行驶方向依次需经过的第一路口直线区域与路口中心区域的分界区域,所述第二分界区域为沿所述行驶方向依次需经过的所述路口中心区域与第二路口直线区域的分界区域;判断车辆行驶位置对应的像素点位置是否位于纵向小于第一像素参考点且大于第二像素参考点的区域内,得到第一判断结果;若所述第一判断结果表示所述像素点位置位于纵向小于第一像素参考点且大于第二像素参考点的区域内,则根据车辆行驶路径上的第一定位点和第二定位点,确定车辆航向角。
Method, device and equipment for determining course angle of vehicle
一种车辆航向角的确定方法、装置及设备
2023-05-30
Patent
Elektronische Ressource
Chinesisch
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 |
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