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

Claim 7:
8. A vehicle, comprising an apparatus for trailer angle measurement, a tractor, and a trailer, a single-beam lidar being provided at a rear part of the tractor, at least one multiple-beam lidar being provided on both sides of the tractor, and a laser reflection plate corresponding to a position of the single-beam lidar being provided at a head of the trailer, wherein
the apparatus for trailer angle measurement is communicatively connected to the single-beam lidar and each multiple-beam lidar, and configured to:
obtain an initial trailer angle;
determine whether to use the single-beam lidar or the multiple-beam lidar for trailer angle measurement based on the initial trailer angle;
obtain, when it is determined to use the multiple-beam lidar for trailer angle measurement, a deflection direction of the trailer, and collect laser light emitted by the multiple-beam lidar on a side of the deflection direction and reflected by a surface of the trailer;
apply a coordinate transformation and selection process on a laser point cloud to form a candidate point cloud;
determine 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
determine a trailer angle based on the boundary straight line of the trailer;
wherein the apparatus for trailer angle measurement is configured to apply the coordinate transformation and selection process on the laser point cloud to form the candidate point cloud by:
transforming the laser point cloud from a coordinate system of the multiple-beam lidar to a rotation center coordinate system of the 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.