Patent ID: 11945499
Assignee: BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.
Field: Measurement (Instruments)
Classification: CPC B  G  Y | IPC B  G

Claim 14:
15. A computing device, comprising a memory and one or more processors communicatively connected to the memory, wherein
the memory stores instructions executable by the one or more processors, the instructions, when executed by the one or more processors, causing the one or more processors to perform a method comprising:
obtaining an initial trailer angle;
determining whether to use a single-beam lidar or a multiple-beam lidar for trailer angle measurement based on the initial trailer angle;
obtaining, when it is determined to use the multiple-beam lidar for trailer angle measurement, a deflection direction of a trailer, and collecting laser light emitted by the multiple-beam lidar on a side of the deflection direction and reflected by a surface of the trailer;
applying a coordinate transformation and selection process on a laser point cloud to form a candidate point cloud;
determining a boundary straight line of the trailer by means of optimized solution of the candidate point cloud based on a pre-constructed objective optimization function; and
determining a trailer angle based on the boundary straight line of the trailer;
wherein said applying the coordinate transformation and selection process on the laser point cloud to form the candidate point cloud comprises:
transforming the laser point cloud from a coordinate system of the multiple-beam lidar to a rotation center coordinate system of a tractor and the trailer, to form point cloud data in the rotation center coordinate system;
region of interest (ROI) filtering the point cloud data in the rotation center coordinate system in accordance with a predetermined condition; and
down-sampling the ROI-filtered point cloud data in the rotation center coordinate system to form the candidate point cloud.