The invention provides a target vehicle course angle determination method and device, equipment and a storage medium, and relates to the technical field of intelligent driving. The method comprises the following steps: acquiring a visual image acquired by a vehicle; the visual image comprises at least one target vehicle; inputting the visual image into a target detection model for processing, and obtaining an overall block diagram of the target vehicle in the visual image and a central included angle between the own vehicle and the target vehicle under the own vehicle coordinate system; respectively inputting the overall block diagram of the target vehicle into a plurality of different preset neural network models for processing, obtaining a predicted observation angle of the vehicle to the target vehicle output by each preset neural network model, performing voting selection on each predicted observation angle, and determining a target observation angle of the vehicle to the target vehicle; and determining the course angle of the target vehicle according to the central included angle between the vehicle and the target vehicle and the target observation angle of the vehicle to the target vehicle. According to the invention, the complexity of the determination algorithm is reduced.
本申请提供一种目标车辆航向角的确定方法、装置、设备及存储介质,涉及智能驾驶技术领域。该方法包括:获取自车采集的视觉图像;视觉图像中包括至少一个目标车辆;将视觉图像输入目标检测模型中进行处理,获取视觉图像中目标车辆的整体框图以及在自车坐标系下自车与目标车辆的中心夹角;将目标车辆的整体框图分别输入多个不同的预设神经网络模型中进行处理,获取各预设神经网络模型输出的自车对目标车辆的预测观察角,并对各预测观察角进行投票选择,确定自车对目标车辆的目标观察角;根据自车与目标车辆的中心夹角以及自车对目标车辆的目标观察角,确定目标车辆的航向角。本申请降低了确定算法的复杂度。
Method and device for determining course angle of target vehicle, equipment and storage medium
目标车辆航向角的确定方法、装置、设备及存储介质
2023-12-12
Patent
Electronic Resource
Chinese
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 |
Method, device and equipment for determining course angle of vehicle
European Patent Office | 2023
|Course angle determination method and device, equipment and storage medium
European Patent Office | 2023
|Course angle calculation method and device, controller, vehicle and storage medium
European Patent Office | 2024
|Course angle determination method and device, computer equipment and storage medium
European Patent Office | 2023
|Course angle confidence judgment method and device, electronic equipment and storage medium
European Patent Office | 2024
|