A method for trailer angle measurement, applied in a vehicle comprising a tractor and a trailer, at least one LiDAR being provided on each of two sides of a rear of the tractor, a reflector with a reflective surface being fixedly provided at a front of the trailer, and the reflective surface facing the LiDARs, the method comprising: controlling (301, 401) the LiDARs to emit laser light, such that the reflective surface of the reflector reflects the laser light emitted by the LiDARs; controlling (302, 402) the LiDARs to receive laser light reflected by the reflector respectively and obtaining laser point clouds based on the laser light; and calculating a trailer angle based on the laser point clouds, comprising: performing area of interest, AOI, filter on the laser point clouds to obtain AOI filtered laser point clouds within a predetermined area range; performing noise filter on the AOI filtered laser point clouds to obtain noise filtered laser point clouds corresponding to the LiDARs respectively; applying a random sample consensus, RANSAC, algorithm to the noise filtered laser point clouds to obtain one or more straight line segments formed by the noise filtered laser point cloud for each of the LiDARs, and determining a longest straight line segment for each of the LiDARs from the one or more straight line segments; determining, in a LiDAR coordinate system, a straight line equation of the longest straight line segment and the number of points in the laser point cloud forming the longest straight line segment for each of the LiDARs; and calculating an initial trailer angle based on the straight line equation of the longest straight line segment for each of the LiDARs. controlling (301, 401) the LiDARs to emit laser light, such that the reflective surface of the reflector reflects the laser light emitted by the LiDARs; controlling (302, 402) the LiDARs to receive laser light reflected by the reflector respectively and obtaining laser point clouds based on the laser light; and calculating a trailer angle based on the laser point clouds, comprising: performing area of interest, AOI, filter on the laser point clouds to obtain AOI filtered laser point clouds within a predetermined area range; performing noise filter on the AOI filtered laser point clouds to obtain noise filtered laser point clouds corresponding to the LiDARs respectively; applying a random sample consensus, RANSAC, algorithm to the noise filtered laser point clouds to obtain one or more straight line segments formed by the noise filtered laser point cloud for each of the LiDARs, and determining a longest straight line segment for each of the LiDARs from the one or more straight line segments; determining, in a LiDAR coordinate system, a straight line equation of the longest straight line segment and the number of points in the laser point cloud forming the longest straight line segment for each of the LiDARs; and calculating an initial trailer angle based on the straight line equation of the longest straight line segment for each of the LiDARs. performing area of interest, AOI, filter on the laser point clouds to obtain AOI filtered laser point clouds within a predetermined area range; performing noise filter on the AOI filtered laser point clouds to obtain noise filtered laser point clouds corresponding to the LiDARs respectively; applying a random sample consensus, RANSAC, algorithm to the noise filtered laser point clouds to obtain one or more straight line segments formed by the noise filtered laser point cloud for each of the LiDARs, and determining a longest straight line segment for each of the LiDARs from the one or more straight line segments; determining, in a LiDAR coordinate system, a straight line equation of the longest straight line segment and the number of points in the laser point cloud forming the longest straight line segment for each of the LiDARs; and calculating an initial trailer angle based on the straight line equation of the longest straight line segment for each of the LiDARs.