Title:
YAW-ANGLE DETERMINATION METHOD, YAW-ANGLE DETERMINATION DEVICE, EQUIPMENT, COMPUTER-READABLE STORAGE MEDIUM
Document Type and Number:
Japanese Patent JP2020040654
Kind Code:
A
Abstract:
To provide a method for determining an actual yaw-angle between a millimeter wave radar and a vehicle body.SOLUTION: A yaw-angle determination method includes: a step 5110 at which data, which relates to each obstacle in environment where a vehicle is positioned and which is detected by a millimeter wave radar of the vehicle during the vehicle travels straight on a straight road on which at least one metal obstacle is provided, is acquired; a step 5120 at which the metal obstacle is recognized on the basis of data concerning the obstacle, and a straight line of the metal obstacle is acquired by fitting a position of the metal obstacle at different times; and a step 5130 at which an angle between the straight line of the metal obstacle and a vehicle body direction is determined, and is so made as to be a yaw-angle between the millimeter wave radar and the vehicle body. The yaw-angle determination method, a yaw-angle determination device, equipment and a computer-readable storage medium, which are provided by the present invention, realize determination of the yaw-angle between the millimeter wave radar and the vehicle body.SELECTED DRAWING: Figure 1
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Inventors:
ZHOU XUN
XIE YUANFAN
LI SHIRUI
WANG LIANG
XIE YUANFAN
LI SHIRUI
WANG LIANG
Application Number:
JP2019165522A
Publication Date:
March 19, 2020
Filing Date:
September 11, 2019
Export Citation:
Assignee:
BAIDU ONLINE NETWORK TECHNOLOGY BEIJING CO LTD
International Classes:
B60W40/114; G01S13/42; G01S13/60; G01S13/931; G08G1/16
Domestic Patent References:
| JP2004198159A | 2004-07-15 | |||
| JP2011002346A | 2011-01-06 | |||
| JP2016043700A | 2016-04-04 | |||
| JP2018100899A | 2018-06-28 |
Attorney, Agent or Firm:
Kunio Ueda
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi