The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 02, 2024
Filed:
Mar. 23, 2021
Beijing Tusen Zhitu Technology Co., Ltd., Beijing, CN;
Yuyong Wang, Beijing, CN;
Pingyuan Ji, Beijing, CN;
BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD., Beijing, CN;
Abstract
The present disclosure relates to autonomous vehicle technology, and provides a method and an apparatus for trailer angle measurement, as well as a vehicle. With the present disclosure, it can be determined whether to use a single-beam lidar or a multiple-beam lidar for trailer angle measurement based on an initial trailer angle. When it is determined to use the multiple-beam lidar a deflection direction of the semi-trailer can be obtained, and laser light emitted by the multiple-beam lidar on a side of the deflection direction and reflected by a trailer surface can be collected. A coordinate transformation and selection process can be applied on the laser point cloud to form a candidate point cloud. A boundary straight line of the trailer can be determined by means of optimized solution of the candidate point cloud. A trailer angle can be determined based on the boundary straight line of the trailer.