Wheel turning angle detection method and device, electronic equipment and storage medium

The invention discloses a wheel turning angle detection method and device, electronic equipment and a storage medium. The wheel turning angle detection method comprises the steps: obtaining a two-dimensional image of a vehicle from a camera; performing wheel detection on the two-dimensional image, and extracting a wheel image from the two-dimensional image; projecting the wheel image to a three-dimensional coordinate system where the point cloud image of the vehicle is located, and extracting each target point corresponding to the wheel image from the point cloud image according to the coordinate of the wheel image in the three-dimensional coordinate system; and determining the wheel turning angle according to the included angle between the wheel plane fitted by each target point and the vehicle axis. A wheel image extracted from a two-dimensional image is projected into a three-dimensional coordinate system of a point cloud image, so that a target point corresponding to the wheel image is obtained from the p