基于轮胎特征点的并行大型车辆朝向角计算

For the poor stability of the prediction results of heading angle of parallel large vehicles in autonomous driving environment perception，this paper proposes a new method for the calculation of heading angle of parallel large vehicle. Firstly，a method based on camera inverse projection model to calculate the heading angle of target vehicle according to the location of feature points of tires in the image is proposed. Subsequently，a sub-branch is added and trained on the existing monocular 3D object detection model for the detection of feature point of tire of large vehicles. Finally，the algorithm in this paper is visually verified. The results show that the method can obtain accurate heading angle of parallel large-scale vehicle，and has better stability than the monocular 3D object detection model.