Method, apparatus, device, and medium for determining angle of yaw
US11372098B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 26, 2019 |
| Grant date | Jun 28, 2022 |
| Priority date | — |
| Expiry date | Sep 21, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S7/4091
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Embodiments of the present disclosure provide a method, an apparatus, a device, and a medium for determining an angle of yaw, relating to a field of automatic driving. The method includes: obtaining, during a vehicle being driving straightly on a straight road, data of each obstacle in an environment located by the vehicle, the data of each obstacle being detected by a millimeter wave radar sensor located in the vehicle, at least one metal obstacle being provided on the straight road; recognizing the metal obstacle based on the data of each obstacle, and obtaining a metal obstacle line by fitting positions of the metal obstacle at different time points; and determining an angle between the metal obstacle line and a direction of a vehicle body as an angle of yaw between the millimeter wave radar sensor and the vehicle body.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.