The invention relates to the technical field of automatic driving, and discloses a course angle determination method and device, a vehicle controller and a vehicle, and the method comprises the steps: obtaining a plurality of pieces of first point cloud data and a first course angle of a target under a current frame; determining first boundary point cloud data based on the plurality of first point cloud data and the first course angle, the first boundary point cloud data being at least one piece of first point cloud data facing the direction of the first course angle and located at the boundary of the target close to the laser radar in the plurality of first point cloud data; acquiring second boundary point cloud data of the target under at least one historical frame; correcting the first course angle based on the first boundary point cloud data and the second boundary point cloud data; and determining the corrected first course angle as the course angle of the target under the current frame. According to the method, the smoothness and authenticity of the course angle of the output target under the current frame can be ensured while relatively low computing power is consumed.

    本发明涉及自动驾驶技术领域,公开了一种航向角的确定方法、装置、车辆控制器及车辆,方法包括:获取当前帧下目标的多个第一点云数据和第一航向角;基于多个第一点云数据和第一航向角,确定第一边界点云数据,第一边界点云数据为多个第一点云数据中朝向第一航向角的方向,且位于目标靠近激光雷达的边界的至少一个第一点云数据;获取至少一个历史帧下目标的第二边界点云数据;基于第一边界点云数据和第二边界点云数据,修正第一航向角;将修正后的第一航向角确定为当前帧下目标的航向角。本发明能够在消耗较低算力的同时,保证输出的当前帧下目标的航向角的平滑性以及真实性。


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    Title :

    Course angle determination method and device, vehicle controller and vehicle


    Additional title:

    航向角的确定方法、装置、车辆控制器及车辆


    Contributors:
    LI QIANG (author)

    Publication date :

    2024-12-06


    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung



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