The invention discloses a course angle determination method and device of an automatic driving vehicle and electronic equipment, and the method comprises the steps: obtaining a current vehicle tracking result, and determining whether a target vehicle triggering an initial course angle calculation condition exists or not according to the vehicle tracking result; if yes, lane line detection results of the area where the target vehicle is located are obtained, and the lane line detection results comprise lane lines and non-lane lines; a surrounding vehicle detection result corresponding to the target vehicle is determined, an initial course angle calculation strategy of the target vehicle is determined according to the lane line detection result and the surrounding vehicle detection result, and the surrounding vehicle detection result comprises surrounding vehicles and non-surrounding vehicles; and determining the current initial course angle of the target vehicle according to the initial course angle calculation strategy of the target vehicle. According to the method, the more reasonable and more practical initial course angle can be calculated according to the lane line detection result and the surrounding vehicle condition, and the accuracy and rationality of initial course angle setting in different scenes are improved.

    本申请公开了一种自动驾驶车辆的航向角确定方法、装置及电子设备,该方法包括:获取当前的车辆跟踪结果,并根据车辆跟踪结果确定是否存在触发初始航向角计算条件的目标车辆;若存在,则获取目标车辆所在区域的车道线检测结果,包括有车道线和无车道线;确定目标车辆对应的周围车辆检测结果,并根据车道线检测结果和周围车辆检测结果确定目标车辆的初始航向角计算策略,周围车辆检测结果包括有周围车辆和无周围车辆;根据目标车辆的初始航向角计算策略确定目标车辆的当前的初始航向角。本申请能够根据车道线检测结果以及周围车辆情况计算出更合理、更符合实际的初始航向角,提高了不同场景下初始航向角设定的准确性和合理性。


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    Title :

    Course angle determination method and device of autonomous vehicle and electronic equipment


    Additional title:

    自动驾驶车辆的航向角确定方法、装置及电子设备


    Contributors:

    Publication date :

    2023-01-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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