The invention discloses a course angle calculation method, device and equipment under a parking working condition and a storage medium, and belongs to the technical field of automatic parking. In theinvention, the method is characterized by acquiring sensor information collected by a vehicle sensor under a parking working condition; inputting the sensor information into a plurality of preset sub-models, obtaining a reference course angle output by each preset sub-model; determining a target course angle according to the reference course angle output by each preset sub-model, and taking a target course angle as a course angle calculation result; and obtaining the target course angle by obtaining reference course angles output by the plurality of preset sub-models and performing fusion calculation on the reference course angles output by the preset sub-models. Therefore, the finally calculated course angle is more accurate, and accuracy of course angle calculation under the parking working condition is improved.

    本发明公开了一种泊车工况下的航向角计算方法、装置、设备及存储介质,属于自动泊车技术领域。本发明获取泊车工况下车辆传感器采集的传感器信息,将所述传感器信息分别输入至多个预设子模型,并获取各个预设子模型输出的参考航向角,根据各个预设子模型输出的参考航向角确定目标航向角,将所述目标航向角作为航向角计算结果,通过获取多个预设子模型输出的参考航向角,并对各个预设子模型输出的参考航向角进行融合计算,得到目标航向角,使得最终计算的航向角更加准确,提高了泊车工况下的航向角计算的准确性。


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    Title :

    Course angle calculation method, device and equipment under parking working condition and storage medium


    Additional title:

    泊车工况下的航向角计算方法、装置、设备及存储介质


    Contributors:
    LI WEIBING (author) / ZHANG CHENGYU (author) / ZU CHUNSHENG (author) / WU QIONG (author) / DING ZHAO (author) / ZHANG FEI (author) / YANG FAN (author)

    Publication date :

    2020-08-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    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



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