Trailer angle determination method, device, computer equipment and storage medium

By combining single-line and multi-line lidar and using Kalman filtering for data fusion, the problem of trailer angle detection being affected by image quality and lighting conditions has been solved, improving detection accuracy and robustness, and adapting to the continuous operation requirements of autonomous driving systems.

CN117450957BActive Publication Date: 2026-06-23SHENZHEN HAIXING ZHIJIA TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHENZHEN HAIXING ZHIJIA TECH CO LTD
Filing Date
2023-11-03
Publication Date
2026-06-23

AI Technical Summary

Technical Problem

Existing trailer angle detection solutions are greatly affected by image quality and lighting conditions, have insufficient calculation accuracy, and most solutions only detect local surfaces of the trailer, with accuracy greatly affected by the flatness of local planes, which cannot meet the 24-hour continuous operation requirements of the autonomous driving field.

Method used

A combination of single-line and multi-line lidar is used to acquire the trailer's angle data separately, and Kalman filtering is used to fuse the data to improve detection accuracy.

Benefits of technology

It effectively avoids detection errors caused by uneven local surfaces or excessive turning angles, improves the robustness and accuracy of trailer angle detection, and meets the 24-hour continuous operation requirements of autonomous driving systems.

✦ Generated by Eureka AI based on patent content.

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Abstract

The present disclosure relates to the technical field of automatic driving, in particular to a method and device for determining trailer angle, computer equipment and storage medium, the method comprising: acquiring single-line laser radar data and multi-line laser radar data; determining a first trailer angle of a target trailer according to the single-line laser radar data; determining a second trailer angle of the target trailer according to the multi-line laser radar data; and performing data fusion on the first trailer angle and the second trailer angle to obtain a target trailer angle. In the design, the information of multiple positions of the trailer is used to detect the trailer angle, which can effectively improve the accuracy of the trailer angle detection. In the fusion strategy, the Kalman filter is used to effectively improve the detection robustness.
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