Obstacle course angle calculation method and device

Abstract

The invention provides an obstacle course angle calculation method and device which are applied to technical field of automobiles. The method comprises the steps of acquiring first course angle reference values and a second course angle reference value, determining a first course angle component and a first weight coefficient corresponding to the first course angle component according to each first course angle reference value; and determining a second course angle component and a second weight coefficient corresponding to the second course angle component according to the second course anglereference value, and finally calculating the course angle of a target obstacle according to the first course angle component, the first weight coefficient, the second course angle component and the second weight coefficient. According to the method, the influence degrees of the first course angle component and the second course angle component in the final calculation result are adjusted through the first weight coefficient and the second weight coefficient, so that the proportion of more accurate course angle components is enabled to be higher, the advantages of an existing calculation methodcan be brought into full play, and the accuracy of the obstacle course angle calculation result is improved.

Description

technical field [0001] The invention belongs to the technical field of automobiles, and in particular relates to a method and a device for calculating an obstacle heading angle. Background technique [0002] In the field of autonomous driving technology, accurate obstacle behavior and obstacle trajectory prediction are the key to efficient and safe driving of autonomous vehicles, and obstacle heading angles are of great significance for accurately predicting obstacle behavior and trajectory. [0003] There are roughly two commonly used methods for calculating the obstacle heading angle. The first is based on the obstacle OBB (OrientedBounding Box, oriented bounding box), and the second is based on the preset motion parameters of the obstacle, such as the obstacle position, motion speed etc. [0004] The heading angle calculation method based on the obstacle OBB can realize the heading angle calculation of stationary obstacles and moving obstacles, but this method is too dep...

AI Technical Summary

Problems solved by technology

[0004] The heading angle calculation method based on the obstacle OBB can realize the heading angle calculation of stationary obstacles and moving obstacles, but this method relies too much on the scanning results of the laser radar for obstacles. The result often deviates greatly from the actual value; the heading angle calculation method based on the preset motion parameters of obstacles can effectively overcome the defects of the first calculation method, but it cannot realize the calculation of the heading angle of stationary obstacles

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