公开(公告)号：US11945499B2

公开(公告)日：2024-04-02

申请号：US17210447

申请日：2021-03-23

Applicant: Beijing Tusen Zhitu Technology Co., Ltd.

Inventor： Yuyong Wang ,  Pingyuan Ji

IPC: B62D15/02 ,  G01S7/53 ,  G01S17/88 ,  G06F17/11

CPC classification number: B62D15/021 ,  G01S7/53 ,  G01S17/88 ,  G06F17/11

Abstract: 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.