The present disclosure relates to autonomous vehicle technology, and provides a method and an apparatus for trailer angle measurement, as well as a vehicle. With the present disclosure, it can be determined whether to use a single-beam lidar or a multiple-beam lidar for trailer angle measurement based on an initial trailer angle. When it is determined to use the multiple-beam lidar a deflection direction of the semi-trailer can be obtained, and laser light emitted by the multiple-beam lidar on a side of the deflection direction and reflected by a trailer surface can be collected. A coordinate transformation and selection process can be applied on the laser point cloud to form a candidate point cloud. A boundary straight line of the trailer can be determined by means of optimized solution of the candidate point cloud. A trailer angle can be determined based on the boundary straight line of the trailer.


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    Title :

    Method and apparatus for trailer angle measurement and vehicle


    Contributors:
    WANG YUYONG (author) / JI PINGYUAN (author)

    Publication date :

    2024-04-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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