The invention provides a vehicle course angle determination method and system, a vehicle and a storage medium, and the method comprises the steps: determining first shape point data of a first lane sideline based on a visual sensor disposed on the vehicle, determining second shape point data of a second lane sideline based on a high-precision positioning system and a high-precision map system which are arranged on the vehicle; determining a first projection point from the vehicle to the first lane sideline and a second projection point from the vehicle to the second lane sideline; determining a first shape point distance between each first lane line shape point and the first projection point, and a second shape point distance between each second lane line shape point and the second projection point; constructing a first quintic fitting equation, a second quintic fitting equation, a third quintic fitting equation and a fourth quintic fitting equation; and determining the course angle of the vehicle based on the first quintic fitting equation, the second quintic fitting equation, the third quintic fitting equation and the fourth quintic fitting equation. According to the invention, the accuracy of the vehicle course angle is improved, and the determination efficiency is improved.

    本发明提供了一种车辆航向角确定方法、系统、车辆以及存储介质,其方法包括:基于设置在车辆上的视觉传感器确定第一车道边线的第一形点数据,基于设置在车辆上的高精度定位系统和高精度地图系统确定第二车道边线的第二形点数据;确定车辆到第一车道边线的第一投影点及车辆到第二车道边线的第二投影点;确定各第一车道边线形点与第一投影点的第一形点距离,以及各第二车道边线形点与第二投影点的第二形点距离;构建第一五次拟合方程、第二五次拟合方程、第三五次拟合方程以及第四五次拟合方程;基于第一五次拟合方程、第二五次拟合方程、第三五次拟合方程以及第四五次拟合方程确定车辆航向角。本发明在提高车辆航向角准确性的同时提高了确定效率。


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    Titel :

    Vehicle course angle determination method and system, vehicle and storage medium


    Weitere Titelangaben:

    一种车辆航向角确定方法、系统、车辆以及存储介质


    Beteiligte:
    LI MEIYI (Autor:in) / CHEN HUI (Autor:in) / LIU XING (Autor:in) / LI YANG (Autor:in) / ZHANG YICHAO (Autor:in) / XIE BIN (Autor:in) / SU YAO (Autor:in)

    Erscheinungsdatum :

    2024-01-02


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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