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

Claim 11:
12. The vehicle of claim 8, wherein the apparatus for trailer angle measurement is configured to determining the boundary straight line of the trailer by means of optimized solution of the candidate point cloud based on the pre-constructed objective optimization function by:
determining the boundary straight line of the trailer by means of optimized solution of the candidate point cloud based on the pre-constructed objective optimization function:, min
   X
  
  
   1
   2
  
  ⁢
  
   
    
    
     f
     ⁡
     (
     X
     )
    
    
   
   λ
   2
  
 

where X is an argument and X={a,b}, X={a,b} represents parameters a and b in the boundary straight line of the trailer to be determined, y=ax+b; ƒ(X) is a residual function and, f
    ⁡
    (
    X
    )
   
   =
   
    
     f
     ⁡
     (
     
      a
      ,
      b
     
     )
    
    =
    
     
      
       ❘
       "\[LeftBracketingBar]"
      
      
       
        ax
        +
        b
        -
        y
       
       
        
         
          a
          2
         
         +
         1
        
       
      
      
       ❘
       "\[RightBracketingBar]"
      
     
     +
     
      α
      ⁡
      (
      
       y
       -
       ax
       -
       b
      
      )
     
    
   
  
  ,
  
   
    
       
    
   
   λ
   2, is a robust kernel function; x, y are coordinate information of the candidate point cloud in an x-y plane of the rotation center coordinate system, and α is a predetermined regular penalty factor.