Vehicle course angle detection method and device, equipment and storage medium

Abstract

The invention discloses a vehicle course angle detection method, device and equipment and a storage medium, and the method comprises the steps: obtaining a real object image of a target vehicle in a preset range of a vehicle, determining a whole vehicle detection frame and a vehicle body detection frame of the target vehicle according to the real object image, and employing a single image to locate the position of the target vehicle in the image, and obtaining the vehicle head position or the vehicle tail position of the target vehicle; based on the whole vehicle detection frame and the vehicle body detection frame, carrying out the perspective operation on the real object image to obtain a plane perspective view of the target vehicle, and carrying out the geometric operation on the plane perspective view to obtain a course angle of the target vehicle, so that a three-dimensional space problem in the detection process is converted into a two-dimensional plane problem, the operation complexity and algorithm output delay are effectively reduced, and the purposes of reducing the computing amount and improving the precision are achieved; meanwhile, the method can be suitable for various scenes.

Description

technical field [0001] The present application relates to the technical field of intelligent driving, and in particular to a method, device, equipment and storage medium for detecting a heading angle of a vehicle. Background technique [0002] In the intelligent driving system, the heading angle of the target vehicle is one of the main parameters for positioning and estimating the motion state of the target vehicle. It not only describes the position information of the target vehicle at the current moment, but also affects the trajectory of the target vehicle in the future. [0003] At present, the detection methods of the vehicle heading angle mainly include: 1. Using the physical coordinate points (horizontal and longitudinal positions) of the target vehicle in the multi-frame images to form a driving trajectory to calculate the heading angle, but it depends on the multi-frame images, and there is a detection Hysteresis; 2. Use the deep learning network to segment the long...

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Problems solved by technology

[0004] The application provides a method, device, equipment and storage medium for detecting the heading angle of a veh

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