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Heading angle calculation method, device, equipment and storage medium under parking conditions

A calculation method and heading angle technology, applied to control devices, vehicle status input parameters, vehicle components, etc., can solve the problem of low heading angle accuracy, achieve accurate heading angles, and improve accuracy

Active Publication Date: 2021-07-20
ANHUI JIANGHUAI AUTOMOBILE GRP CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The main purpose of the present invention is to provide a heading angle calculation method, device, equipment and storage medium under parking conditions, aiming to solve the technical problem of low accuracy of the heading angle calculated in the prior art

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  • Heading angle calculation method, device, equipment and storage medium under parking conditions
  • Heading angle calculation method, device, equipment and storage medium under parking conditions
  • Heading angle calculation method, device, equipment and storage medium under parking conditions

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Embodiment Construction

[0051] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0052] refer to figure 1 , figure 1 It is a schematic structural diagram of the heading angle calculation device under the parking working condition of the hardware operating environment involved in the solution of the embodiment of the present invention.

[0053] Such as figure 1As shown, the heading angle calculation device under the parking condition may include: a processor 1001 , such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a...

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Abstract

The invention discloses a heading angle calculation method, device, equipment and storage medium under parking working conditions, and belongs to the technical field of automatic parking. The present invention obtains the sensor information collected by the vehicle sensor under the parking condition, inputs the sensor information into a plurality of preset sub-models respectively, and obtains the reference heading angle output by each preset sub-model, and according to the output of each preset sub-model Determining the target heading angle with reference to the heading angle, using the target heading angle as the calculation result of the heading angle, by obtaining the reference heading angles output by multiple preset sub-models, and performing fusion calculation on the reference heading angles output by each preset sub-model, Obtaining the target heading angle makes the final calculated heading angle more accurate, and improves the accuracy of heading angle calculation under parking conditions.

Description

technical field [0001] The present invention relates to the technical field of automatic parking, in particular to a heading angle calculation method, device, equipment and storage medium under parking conditions. Background technique [0002] The heading angle refers to the angle formed by the vehicle's driving direction and the horizontal axis of the earth coordinate system under the earth coordinate system. The positioning of the heading angle in vehicle driving is a very important signal parameter, especially in low-speed driving conditions, under the low sensor and controller cost requirements, the vehicle's own sensors are used to calculate the body angle. In some working conditions For example, automatic parking can be applied well. Accurate body heading angle not only helps the driver to understand the current body posture in real time, but also provides accurate body heading for the automatic parking system path planning in the storage adjustment phase. angle to im...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W40/10
CPCB60W40/10B60W2520/06B60W2520/28B60W2530/18B60W2720/24
Inventor 李卫兵张澄宇祖春胜吴琼丁钊张飞杨帆
Owner ANHUI JIANGHUAI AUTOMOBILE GRP CORP LTD
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