To provide a method for determining an actual yaw-angle between a millimeter wave radar and a vehicle body.SOLUTION: A yaw-angle determination method includes: a step 5110 at which data, which relates to each obstacle in environment where a vehicle is positioned and which is detected by a millimeter wave radar of the vehicle during the vehicle travels straight on a straight road on which at least one metal obstacle is provided, is acquired; a step 5120 at which the metal obstacle is recognized on the basis of data concerning the obstacle, and a straight line of the metal obstacle is acquired by fitting a position of the metal obstacle at different times; and a step 5130 at which an angle between the straight line of the metal obstacle and a vehicle body direction is determined, and is so made as to be a yaw-angle between the millimeter wave radar and the vehicle body. The yaw-angle determination method, a yaw-angle determination device, equipment and a computer-readable storage medium, which are provided by the present invention, realize determination of the yaw-angle between the millimeter wave radar and the vehicle body.SELECTED DRAWING: Figure 1

    【課題】ミリ波レーダセンサと車体との実際のヨー角を決定する方法を提供する。【解決手段】ヨー角の決定方法は、車両が少なくとも一つの金属障害物が設けられている直線道路を直線走行中に車両のミリ波レーダセンサによって検出された、車両が位置する環境における各障害物のデータを取得するステップ5110と、障害物のデータに基づいて金属障害物を認識し、異なる時間での金属障害物の位置をフィッティングすることによって金属障害物の直線を取得するステップ5120と、金属障害物の直線と車体方向との間の角度を決定して、ミリ波レーダセンサと車体との間のヨー角とするステップ5130とを含む。本発明により提供されるヨー角の決定方法、ヨー角の決定装置、機器及びコンピュータ読み取り可能な記憶媒体は、ミリ波レーダセンサと車体との間のヨー角の決定を実現する。【選択図】図1


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    Title :

    YAW-ANGLE DETERMINATION METHOD, YAW-ANGLE DETERMINATION DEVICE, EQUIPMENT, COMPUTER-READABLE STORAGE MEDIUM


    Additional title:

    ヨー角の決定方法、ヨー角の決定装置、機器及びコンピュータ読み取り可能な記憶媒体


    Contributors:
    ZHOU XUN (author) / XIE YUANFAN (author) / LI SHIRUI (author) / WANG LIANG (author)

    Publication date :

    2020-03-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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