The invention provides a course angle confidence judgment method and device, electronic equipment and a storage medium, and belongs to the technical field of intelligent driving, and the method comprises the steps: obtaining first lane line data and second lane line data of a road where a vehicle is located; the acquisition modes of the first lane line data and the second lane line data are different; constructing a first fitting point set of the lane lines based on the first lane line data, and constructing a second fitting point set of the lane lines based on the second lane line data; performing point cloud registration on the first fitting point set and the second fitting point set, and determining a rotation matrix meeting a preset registration requirement; calculating a deviation angle of the vehicle course angle based on the rotation matrix, and determining the confidence of the vehicle course angle based on the deviation angle. According to the method, the deviation angle of the vehicle course angle can be calculated more accurately, the confidence coefficient of the vehicle course angle is determined based on the deviation angle, the accuracy of the confidence coefficient can be ensured, and safer parameter acquisition is provided for intelligent driving.

    本发明提供了一种航向角置信度判断方法、装置、电子设备及存储介质,属于智能驾驶技术领域,其方法包括:获取车辆所在道路的第一车道线数据和第二车道线数据;第一车道线数据和第二车道线数据的采集方式不同;基于第一车道线数据构建车道线的第一拟合点集,基于第二车道线数据构建车道线的第二拟合点集;对第一拟合点集和第二拟合点集进行点云配准,确定满足预设配准要求的旋转矩阵;基于旋转矩阵计算车辆航向角的偏差角度,基于偏差角度确定车辆航向角的置信度。本发明能够更加准确的计算车辆航向角的偏差角度,基于偏差角度确定车辆航向角的置信度,能够保证置信度的准确性,为智能驾驶提供更安全的参数采集。


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    Title :

    Course angle confidence judgment method and device, electronic equipment and storage medium


    Additional title:

    航向角置信度判断方法、装置、电子设备及存储介质


    Contributors:
    LIANG ZIXIANG (author) / CHEN HUI (author) / LIU XING (author) / YAN YUXIN (author) / JIANG DENGKE (author)

    Publication date :

    2024-09-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G06V



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