The present disclosure provides a method and an apparatus for trailer angle measurement, as well as a vehicle, applied in a semi-trailer including a tractor and a trailer. At least one multi-line laser radar is provided on each of two sides of the tractor. The method includes: obtaining (301), in a predetermined vehicle coordinate system, an initial trailer model corresponding to an initial trailer angle value, to obtain initial point cloud data in the initial trailer model; controlling (302) the multi-line laser radar provided on each of the two sides of the tractor to emit laser light, such that a surface of the trailer reflects the laser light emitted by the multi-line laser radar; controlling (303) each of the multi-line laser radars to receive a corresponding laser point cloud reflected by the surface of the trailer; and calculating (304) a trailer angle based on the corresponding laser point clouds received by the respective multi-line laser radars and the initial point cloud data using a point cloud matching algorithm. With the embodiments of the present disclosure, fast and accurate measurement of a trailer angle can be achieved with a simple structure.
TRAILER ANGLE MEASUREMENT METHOD AND DEVICE, AND VEHICLE
VERFAHREN UND VORRICHTUNG ZUR MESSUNG DES ANHÄNGERWINKELS UND FAHRZEUG
PROCÉDÉ ET DISPOSITIF DE MESURE D'ANGLE DE REMORQUE ET VÉHICULE
10.08.2022
Patent
Elektronische Ressource
Englisch
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