The present disclosure provides a method and an apparatus for trailer angle measurement, as well as a vehicle, applied in a semi-trailer including a tractor and a trailer. At least one multi-line laser radar is provided on each of two sides of the tractor. The method includes: obtaining (301), in a predetermined vehicle coordinate system, an initial trailer model corresponding to an initial trailer angle value, to obtain initial point cloud data in the initial trailer model; controlling (302) the multi-line laser radar provided on each of the two sides of the tractor to emit laser light, such that a surface of the trailer reflects the laser light emitted by the multi-line laser radar; controlling (303) each of the multi-line laser radars to receive a corresponding laser point cloud reflected by the surface of the trailer; and calculating (304) a trailer angle based on the corresponding laser point clouds received by the respective multi-line laser radars and the initial point cloud data using a point cloud matching algorithm. With the embodiments of the present disclosure, fast and accurate measurement of a trailer angle can be achieved with a simple structure.
TRAILER ANGLE MEASUREMENT METHOD AND DEVICE, AND VEHICLE
VERFAHREN UND VORRICHTUNG ZUR MESSUNG DES ANHÄNGERWINKELS UND FAHRZEUG
PROCÉDÉ ET DISPOSITIF DE MESURE D'ANGLE DE REMORQUE ET VÉHICULE
2022-08-10
Patent
Elektronische Ressource
Englisch
Method and apparatus for trailer angle measurement and vehicle
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