Method and device for measuring included angle of trailer and vehicle
Method and device for measuring included angle of trailer and vehicle
The invention provides a trailer included angle measuring method and device and a vehicle, and relates to the technical field of vehicles. The method is applied to a semitrailer comprising a tractor and a trailer. At least one multi-line laser radar is arranged on each of the two sides of the tractor; the method comprises the following steps: under a preset vehicle coordinate system, obtaining a trailer initial model when a trailer included angle is an initial value, and obtaining initial point cloud data on the trailer initial model; multi-line laser radars arranged on the two sides of the tractor are controlled to emit laser, so that the surface of the trailer reflects the laser emitted by the multi-line laser radars; controlling each multi-line laser radar to receive the corresponding laser point cloud reflected by the surface of the trailer; and according to the corresponding laser point cloud and initial point cloud data received by each multi-line laser radar, a trailer included angle is calculated by adopting a point cloud matching algorithm. The method is simple in structure and capable of rapidly and accurately measuring the included angle of the trailer.
本发明提供了一种挂车夹角的测量方法、装置及车辆，涉及车辆技术领域。其应用于一种包括牵引车和挂车的半挂车；在牵引车的两侧分别设置有至少一个多线激光雷达；方法包括：在预先设置的车辆坐标系下，获得挂车夹角为初始值时的挂车初始模型，得到挂车初始模型上的初始点云数据；控制牵引车的两侧分别设置的多线激光雷达发射激光，使得挂车的表面反射多线激光雷达发射的激光；控制各多线激光雷达分别接收挂车的表面反射的各自对应的激光点云；根据各多线激光雷达接收到的各自对应的激光点云和初始点云数据，采用点云匹配算法计算得到挂车夹角。本发明可以实现一种结构简单、快速准确测量挂车夹角的方法。
Dokumentinformationen
Method and device for measuring included angle of trailer and vehicle
一种挂车夹角的测量方法、装置及车辆
2023-05-30
Patent
Elektronische Ressource
Chinesisch
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