The invention discloses an inclined train position course angle determination method and device, a vehicle and a storage medium. The method comprises the steps that environment information of a vehicle is obtained, wherein the environment information is information related to the situation that the vehicle drives out of an inclined train position in the surrounding environment of the vehicle; obtaining a first reference point and a second reference point according to the environment information, wherein a connecting line of the first reference point and the second reference point is parallel to a road; and according to the coordinates of the first reference point and the second reference point, the course angle of the vehicle parked out of the inclined train position is determined. According to the method, a first reference point and a second reference point are determined according to environment information around a vehicle, and the course angle of the vehicle parked out of an inclined train position is determined according to coordinates of the first reference point and the second reference point, so that the course angle of the vehicle when the vehicle is parked out of the inclined train position can be calculated; and finally, the posture of the inclined parking self-vehicle is parallel to the actual road.

    本发明公开了一种斜列车位航向角确定方法、装置、车辆及存储介质。所述方法包括:获取车辆的环境信息,所述环境信息为所述车辆周围环境中对所述车辆驶出斜列车位相关的信息;根据所述环境信息得到第一参考点和第二参考点,所述第一参考点和所述第二参考点的连线与道路平行;根据所述第一参考点和所述第二参考点的坐标,确定所述车辆泊出所述斜列车位的航向角。该方法通过根据车辆周围的环境信息确定第一参考点和第二参考点,并根据第一参考点和第二参考点的坐标确定车辆泊出斜列车位的航向角,能够计算出车辆在斜列车位泊出时自车的航向角度,实现最终斜列泊出自车姿态与实际道路平行。


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    Title :

    Inclined train position course angle determination method and device, vehicle and storage medium


    Additional title:

    一种斜列车位航向角确定方法、装置、车辆及存储介质


    Contributors:
    HE WENCHAO (author) / WANG DEXIANG (author) / SUN YUANGUANG (author)

    Publication date :

    2023-09-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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