Course angle determination method and apparatus, computer device, and storage medium

Abstract

Embodiments of the present application provide a heading angle determination method and device, computer equipment and a storage medium, relating to the field of intelligent transportation technology, and the method comprises: determining a current position of a target object in a current intersection; finding a target heading angle corresponding to the current position from a pre-configured heading angle database; wherein the heading angle database contains heading angles of different objects at different positions when the current intersection is in a traffic state; and determining the target heading angle as an initial heading angle of the target object at the current position. The technical problem of the current heading angle determination method is solved, and the technical effect of improving the convenience and applicability of heading angle determination is achieved.

Description

Technical Field

[0001] This application relates to the field of intelligent transportation technology, and more specifically, to a method, apparatus, computer equipment, and storage medium for determining heading angle. Background Technology

[0002] The heading angle is an important parameter to ensure the safe and stable operation of vehicles. For example, when a roadside sensing device detects a vehicle, it needs to be assigned an initial heading angle so that there is a clear vehicle orientation when it is digitally displayed in a smart city or digital twin in the cloud; or when filling blind spots on the vehicle, trajectory prediction is made based on the vehicle's heading angle.

[0003] However, the heading angle of a vehicle is generally calculated from multiple frames of motion images captured by the image acquisition device. The first few frames are often accompanied by the jitter of the detection box or insufficient motion trajectory. Therefore, an accurate heading angle cannot be assigned in the first frame or the first few frames after the target is detected.

[0004] Therefore, the current methods for determining the heading angle are not very effective. Summary of the Invention

[0005] This application provides a method, apparatus, computer device, and storage medium for determining heading angle, in order to improve the applicability and reliability of heading angle determination.

[0006] The first aspect of this application provides a method for determining a heading angle, including: Determine the current position of the target object at the current intersection; The target heading angle corresponding to the current position is obtained by searching the pre-configured heading angle database; the heading angle database contains the heading angles of different objects at different positions when the intersection is in a passable state. The target heading angle is determined as the initial heading angle of the target object at its current position.

[0007] A second aspect of this application provides a heading angle determination device, comprising: The first determining module is used to determine the current position of the target object at the current intersection; The search module is used to find the target heading angle corresponding to the current position from a pre-configured heading angle database; the heading angle database contains the heading angles of different objects at different positions when the intersection is in a passable state; The second determining module is used to determine the target heading angle as the initial heading angle of the target object at its current position.

[0008] A third aspect of this application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the above methods.

[0009] A fourth aspect of the embodiments of this application provides a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the method as described in any of the above.

[0010] The heading angle determination method provided in this application retrieves the target heading angle corresponding to the current position of the determined target object at the current intersection from a pre-configured heading angle database, and then determines the target heading angle as the initial heading angle of the target object at the current position. This application embodiment determines the initial heading angle of the target object using the historical heading angle of the current position, thus it is not limited by the target object's motion trajectory or the number of image frames obtained. This avoids the shortcomings of traditional methods where an accurate heading angle cannot be obtained due to insufficient motion trajectory or a small number of image frames, solving the technical problem of poor performance in current heading angle determination methods and achieving the technical effect of improving the convenience and applicability of heading angle determination. Attached Figure Description

[0011] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A flowchart illustrating a heading angle determination method provided in one embodiment of this application; Figure 2 A flowchart illustrating a heading angle determination method provided in one embodiment of this application; Figure 3 A flowchart illustrating a heading angle determination method provided in one embodiment of this application; Figure 4 A flowchart illustrating a heading angle determination method provided in one embodiment of this application; Figure 5 A flowchart illustrating a heading angle determination method provided in one embodiment of this application; Figure 6 A schematic diagram of the heading angle determination device provided in one embodiment of this application; Figure 7 This is a schematic diagram of a computer device structure provided in one embodiment of this application. Detailed Implementation

[0012] In the process of developing this application, the inventors discovered that the current methods for determining heading angle are not effective.

[0013] To address the aforementioned issues, this application provides a heading angle determination method that can provide a relatively accurate heading angle for the target object when the target object's motion trajectory is relatively small in the first frame or the first few frames.

[0014] The solutions in this application embodiment can be implemented using various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0015] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0016] The following is a brief description of the application environment of the heading angle determination method provided in the embodiments of this application: The heading angle determination method provided in this application embodiment is applied to autonomous driving systems or intelligent transportation systems, which include at least: for example, roadside perception devices such as image acquisition devices and radar, traffic status guidance devices, control devices, etc. Image acquisition equipment is typically fixed in a specific location to acquire images of a fixed area in real time. The fixed objects within this area remain constant, such as road boundaries, crosswalks, and traffic guidance devices. The movable objects within this area change dynamically, such as vehicles and pedestrians. Radar is positioned on both sides of the road to measure distances between different objects, such as the distance between vehicles. Traffic guidance devices use different display states to represent the current traffic conditions, such as traffic lights: red means no driving, green means go, and yellow means wait. Control equipment communicates with each roadside sensing device and traffic guidance device, receiving signals from them and determining the current traffic condition based on the received signals, such as determining road congestion and providing initial heading angles for vehicles or target objects. In some cases, the control equipment can also communicate with vehicles to send the determined traffic conditions and initial heading angles to them, allowing vehicles to adjust their operations or display information in real time. The control device can be a computer, server, laptop, or other wearable device.

[0017] Please see Figure 1The following embodiments use the aforementioned control device as the execution subject, applying the method provided in the embodiments of this application to the aforementioned control device, taking the determination of the initial heading angle of the target object as an example for specific explanation. The heading angle determination method provided in the embodiments of this application includes the following steps 101-103: Step 101: Determine the current position of the target object at the current intersection.

[0018] The target object can be a vehicle, a road robot, etc., and this application embodiment does not impose specific limitations. It can be selected according to the actual situation. The target object can be a movable object. The current intersection can be a straight intersection, a crossroads, or a T-junction, etc. The current intersection is equipped with one or more image acquisition devices to collect images of different driving areas in real time. The current position refers to the position of the target object at the current moment. The current position can be the position in the world coordinate system, or the position of the target object in the image acquired by the image acquisition device. This application embodiment does not impose specific limitations.

[0019] Step 102: Find the target heading angle corresponding to the current position from the pre-configured heading angle database.

[0020] The heading angle database contains the heading angles of different objects at different positions within the current intersection while traffic is flowing. Each position and its corresponding heading angle represents historical vehicle movement data from the current intersection. The heading angle data in this database can be obtained as follows: Multiple image acquisition devices are set up at the current intersection, each with a different field of view. These devices capture images of their respective fields of view in real time. The images obtained at the same time are then fused. Finally, based on the fused image, the heading angle of each object at its respective position is calculated according to its trajectory. Each object has a corresponding heading angle at different positions. This database is constructed based on the heading angle data at each moment or position within the current intersection, or it can be continuously updated based on the heading angle data at each moment or position within the current intersection.

[0021] Step 103: Determine the target heading angle as the initial heading angle of the target object at its current position.

[0022] Each location corresponds to at least one heading angle. After obtaining the target heading angle of the target object at its current location through the above steps, if there is only one target heading angle, it can be directly configured as the initial heading angle of the target object at its current location. If there are multiple target heading angles, one target heading angle can be determined from among them based on factors such as the distance of each heading angle from the current location. This initial heading angle refers to the heading angle configured for the target object's current location at the current moment, used to guide the target object's movement at the current location of the current intersection.

[0023] The heading angle determination method provided in this application retrieves the target heading angle corresponding to the current position of the determined target object at the current intersection from a pre-configured heading angle database, and then determines the target heading angle as the initial heading angle of the target object at the current position. This application embodiment determines the initial heading angle of the target object using the historical heading angle of the current position, thus it is not limited by the target object's motion trajectory or the number of image frames obtained. This avoids the shortcomings of traditional methods where an accurate heading angle cannot be obtained due to insufficient motion trajectory or a small number of image frames, solving the technical problem of poor performance in current heading angle determination methods and achieving the technical effect of improving the convenience and applicability of heading angle determination.

[0024] Please see Figure 2 In an optional embodiment of this application, the heading angle database in step 102 above can be constructed based on the following steps 201-202: Step 201: Determine the historical real-time position of each object in the current intersection and the historical real-time heading angle corresponding to the historical real-time position.

[0025] The first method involves detecting the position of each object entering the current intersection in real time using radar or GPS (Global Positioning System) location detection devices. The second method involves determining the object's position in world space based on its first appearance in the image acquisition device's field of view, or by using the object's pixel positions in the acquired image and establishing a pre-built correspondence between pixel positions and world space positions; this yields the object's historical real-time position. For the first method, the heading angle can be determined by the object's actual trajectory over a continuous time interval; for the second method, the heading angle can be determined by the object's position changes across consecutive frames of images, thus obtaining the historical real-time heading angle corresponding to the historical real-time position.

[0026] Step 202: Construct a heading angle database based on historical real-time locations and the corresponding historical real-time heading angles.

[0027] For each object, after obtaining the historical real-time position and the corresponding historical real-time heading angle through the above steps, a heading angle database is constructed based on the historical real-time position and the corresponding historical real-time heading angle. When a new object appears at the current intersection, its historical real-time position and the corresponding historical real-time heading angle can be determined in the same way as in step 201 above, and updated to the heading angle database.

[0028] This application embodiment first determines the historical real-time position of each object in the current intersection and the corresponding historical real-time heading angle. Then, it constructs a heading angle database based on the historical real-time position and the corresponding historical real-time heading angle. The resulting heading angle database is based on the real-time heading angle corresponding to different real-time positions at the current intersection. At a fixed intersection, the driving direction of vehicles is generally fixed, and the driving status of vehicles is basically the same. The heading angle database constructed by this application embodiment based on the historical real-time position and the corresponding historical real-time heading angle is more consistent with the actual situation, and the target heading angle obtained based on this heading angle database is more reliable.

[0029] Please see Figure 3 In an optional embodiment of this application, step 201, determining the historical real-time position of each object in the current intersection and the historical real-time heading angle corresponding to the historical real-time position, includes the following steps 301-302: Step 301: For each traffic status guidance device at the current intersection, determine the driving area corresponding to the traffic status guidance device.

[0030] Traffic guidance devices, such as traffic lights, control specific driving areas at intersections. Different colors are used to control the movement of vehicles and pedestrians on those roads. Once the location of a traffic light is fixed, its controlled driving area also remains fixed. This driving area is pre-determined by staff based on the actual road distribution. Each traffic guidance device has a unique identifier. When implementing the heading angle determination method of this application, it is only necessary to look up the corresponding driving area in a pre-configured traffic guidance device-driving area correspondence table based on the device identifier.

[0031] Step 302: Determine the historical real-time position of each object within the driving area and the corresponding historical real-time heading angle.

[0032] A driving area may contain one or more objects. An object must have a fixed position at a fixed time, that is, a real-time historical position. The control device can calculate the historical real-time heading angle based on any one of the two methods in step 201 above or other methods.

[0033] The heading angle determination method provided in this application determines the driving area corresponding to each traffic guidance device at the current intersection, and then determines the historical real-time position of each object within the driving area and the corresponding historical real-time heading angle. Using the driving areas corresponding to the traffic guidance devices as reference units to determine the historical real-time position and corresponding historical real-time heading angle of each object at the current intersection is more efficient, and the reliability and efficiency of subsequently retrieving the target heading angle corresponding to the current position from a heading angle database containing the historical real-time position and corresponding historical real-time heading angle are also higher.

[0034] In an optional embodiment of this application, step 302, determining the historical real-time position of each object within the driving area and the corresponding historical real-time heading angle, includes the following steps: When the traffic guidance equipment is in a passable state, it determines the historical real-time location of each object within the driving area and the corresponding historical real-time heading angle.

[0035] Taking traffic guidance equipment like traffic lights as an example, the current traffic state is the green light state. This means that when the traffic light is green, the historical real-time position of each object and its corresponding historical real-time heading angle are obtained. In other words, during the red and yellow light states, the corresponding position and heading angle data are not collected. Vehicles are generally stationary during red and yellow light states, so there is no need to assign heading angles to them. This method significantly reduces the number of data samples while ensuring complete heading angle data determination, lowering data storage pressure and thus improving the efficiency of determining the target heading angle.

[0036] Correspondingly, step 102, retrieving the target heading angle corresponding to the current position from the pre-configured heading angle database, includes the following steps: The target heading angle corresponding to the current position of the traffic guidance device when it is in a passable state is obtained by searching the pre-configured heading angle database.

[0037] As described in the steps above in this embodiment, the obtained historical real-time positions and corresponding historical real-time heading angles are all under the condition of passage. That is, the heading angle database only contains data under the condition of passage. When the target heading angle is determined, it can be searched by the status identifiers of each historical real-time position and historical heading angle. For example, the data under the condition of green light at traffic lights can be used as the search sample.

[0038] In this embodiment, when the traffic guidance device is in a passable state, the historical real-time position of each object in the driving area and the historical real-time heading angle corresponding to the historical real-time position are determined. Then, the target heading angle corresponding to the current position when the traffic guidance device is in a passable state is obtained from a pre-configured heading angle database. Since there is no data for other traffic states in the search sample, the efficiency of finding and determining the target heading angle is higher.

[0039] In one optional embodiment of this application, step 102 above may also present another situation: if the heading angle database does not contain the heading angle corresponding to the current position of the traffic guidance device when it is in a passable state, please refer to [link to relevant documentation]. Figure 4 In this case, the heading angle determination method further includes the following steps 401-402: Step 401: Find the historical heading angles of each object in the driving area of ​​the traffic status guidance device in the previous traffic state from the heading angle database.

[0040] Step 402: Determine the target heading angle corresponding to the current position based on each historical heading angle and the corresponding historical position.

[0041] For example, if a vehicle enters an intersection during a green or yellow light, and the traffic light changes from yellow to red, the vehicle stops and is in its initial position, which is in the blind spot of the image capture device. Then, when the traffic light changes from red to green, the vehicle continues to move, entering the field of view of the image capture device. In other words, this is the first time the vehicle has entered the image capture area, but its position is already in the middle of the lane, not at the lane entrance. In this situation, the target heading angle can be determined based on the historical heading angle from the previous traffic state, i.e., the last green light state of the traffic light, based on the current position.

[0042] The heading angle determination method provided in this application embodiment is suitable when an object does not have a historical heading angle under the current traffic conditions due to obstruction or other reasons. In this case, the target heading angle corresponding to the current position can be determined based on the historical heading angles of each object in the driving area under the previous traffic conditions by the traffic status guidance device. In this way, even when the vehicle does not have a sufficient number of movement trajectories, a relatively accurate and reliable target heading angle can be assigned to it, thereby improving the applicability and reliability of the heading angle determination method in this application embodiment.

[0043] In an optional embodiment of this application, step 402, determining the target heading angle corresponding to the current position based on each historical heading angle and the corresponding historical position, includes: The historical heading angle that is closest to the current position among all historical positions is determined as the target heading angle for the current position.

[0044] For example, in the previous traffic state, a lane contains multiple objects, and the positions of each object in that lane are not the same, that is, their historical positions are different. In this case, the distance between the current position of the current object and the historical positions of each vehicle can be calculated, and the historical heading angle corresponding to the historical position of the vehicle with the shortest distance can be determined as the target heading angle of the current vehicle. In this way, a more reliable target heading angle can be assigned to the target object, further improving the applicability of the heading angle determination in the embodiments of this application.

[0045] Please see Figure 5 In an optional embodiment of this application, if there are multiple target heading angles, step 103, determining the target heading angle as the initial heading angle of the target object at its current position, includes the following steps 501-503: Step 501: Determine the distance between the current location and the starting position of each lane in the current intersection.

[0046] The starting position of the lane is the first intersection point between the lane where the vehicle is located and the current intersection along the direction of vehicle travel when the vehicle enters the current intersection. For example, the starting position of the lane is the pedestrian crossing near the direction of vehicle entry at the current intersection. The control equipment calculates the distance between the current position of the vehicle and the pedestrian crossing, which is the aforementioned interval distance.

[0047] Step 502: Determine the lane with the shortest interval distance as the target lane.

[0048] Step 503: Determine the target heading angle of the target object in the target lane as the initial heading angle of the target object at its current position.

[0049] That is, multiple target heading angles are obtained from a pre-configured heading angle database by the heading angle determination method described above. These multiple vehicles may be in different lanes. At this time, the initial heading angle of the current vehicle, that is, the target object, is determined by the interval distance from the starting position of the lane. The obtained initial heading angle is more accurate and can further improve the reliability of the heading angle determination method in this application embodiment.

[0050] It should be understood that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order constraint on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the diagram may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0051] Please see Figure 6 One embodiment of this application provides a heading angle determination device 600, including: a first determination module 610, a search module 620, and a second determination module 630, wherein: The first determining module 610 is used to determine the current position of the target object at the current intersection; The search module 620 is used to find the target heading angle corresponding to the current position from a pre-configured heading angle database; wherein, the heading angle database contains the heading angles of different objects at different positions when the intersection is in a passing state; The second determining module 630 is used to determine the target heading angle as the initial heading angle of the target object at the current position.

[0052] In an optional embodiment of this application, the search module 620 is further configured to determine the historical real-time location of each object in the current intersection and the historical real-time heading angle corresponding to the historical real-time location; and to construct a heading angle database based on the historical real-time location and the historical real-time heading angle corresponding to each historical real-time location.

[0053] In an optional embodiment of this application, the search module 620 is specifically used to: determine the driving area corresponding to each traffic status guidance device in the current intersection; and determine the historical real-time position of each object in the driving area and the historical real-time heading angle corresponding to the historical real-time position.

[0054] In an optional embodiment of this application, the search module 620 is specifically used to determine the historical real-time location of each object within the driving area and the historical real-time heading angle corresponding to the historical real-time location when the traffic status guidance device is in a passable state; and to search for the target heading angle corresponding to the current location of the traffic status guidance device when it is in a pre-configured heading angle database.

[0055] In an optional embodiment of this application, if the heading angle database does not contain the heading angle corresponding to the current position of the traffic guidance device in the traffic state, the search module 620 is further configured to search the heading angle database for the historical heading angles of each object in the driving area of ​​the traffic guidance device in the previous traffic state; and determine the target heading angle corresponding to the current position based on each historical heading angle and the corresponding historical position.

[0056] In an optional embodiment of this application, the search module 620 is specifically used to determine the historical heading angle that is closest to the current position among all historical positions as the target heading angle corresponding to the current position.

[0057] In one optional embodiment of this application, if there are multiple target heading angles, the search module 620 is specifically used to: determine the interval distance between the current position and the starting position of each lane in the current intersection; determine the lane with the shortest interval distance as the target lane; and determine the target heading angle of the target lane as the initial heading angle of the target object at the current position.

[0058] Specific limitations regarding the heading angle determination device 600 can be found in the limitations of the heading angle determination method described above, and will not be repeated here. Each module in the heading angle determination device 600 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0059] In one embodiment, a computer device is provided, the internal structure of which can be as follows: Figure 7 As shown. The computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements the heading angle determination method described above. It includes: memory and a processor; the memory stores a computer program; and the processor executes the computer program to implement any step of the heading angle determination method described above.

[0060] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, can perform any of the steps in the heading angle determination method described above.

[0061] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0062] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0063] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0064] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0065] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0066] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for determining a heading angle, characterized in that, include: Determine the current position of the target object at the current intersection; The target heading angle corresponding to the current position when the traffic guidance device is in a passable state is obtained by searching a pre-configured heading angle database. The heading angle database contains heading angles of different objects at different positions when the current intersection is in a passable state. The construction process of the heading angle database includes: for each traffic guidance device at the current intersection, determining the driving area corresponding to the traffic guidance device; when the traffic guidance device is in a passable state, determining the historical real-time position of each object within the driving area and the historical real-time heading angle corresponding to the historical real-time position; and constructing the heading angle database based on the historical real-time position and the historical real-time heading angle corresponding to each historical real-time position. The target heading angle is determined as the initial heading angle of the target object at its current position.

2. The method for determining the heading angle according to claim 1, characterized in that, If the heading angle database does not contain the heading angle corresponding to the current position when the traffic guidance device is in a passable state, the method further includes: The historical heading angles of each object in the driving area under the previous traffic condition are obtained from the heading angle database; The target heading angle corresponding to the current position is determined based on the historical heading angles and the corresponding historical positions.

3. The method for determining the heading angle according to claim 2, characterized in that, Determining the target heading angle corresponding to the current position based on each of the historical heading angles and the corresponding historical positions includes: The historical heading angle that is closest to the current position among all the historical positions is determined as the target heading angle corresponding to the current position.

4. The method for determining the heading angle according to claim 1, characterized in that, If there are multiple target heading angles; determining the target heading angle as the initial heading angle of the target object at the current position includes: Determine the interval distance between the current position and the starting position of each lane in the current intersection; The lane with the shortest interval distance is determined as the target lane; The target heading angle of the target object in the target lane is determined as the initial heading angle of the target object at the current position.

5. A heading angle determination device, characterized in that, include: The first determining module is used to determine the current position of the target object at the current intersection; A search module is used to retrieve the target heading angle corresponding to the current position when the traffic guidance device is in a passable state from a pre-configured heading angle database. The heading angle database contains heading angles of different objects at different positions when the current intersection is in a passable state. The construction process of the heading angle database includes: for each traffic guidance device at the current intersection, determining the driving area corresponding to the traffic guidance device; when the traffic guidance device is in a passable state, determining the historical real-time position of each object within the driving area and the historical real-time heading angle corresponding to the historical real-time position; and constructing the heading angle database based on the historical real-time position and the historical real-time heading angle corresponding to each historical real-time position. The second determining module is used to determine the target heading angle as the initial heading angle of the target object at the current position.

6. A computer device, comprising: The method includes a memory and a processor, the memory storing a computer program, characterized in that the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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