Vehicle attitude determination method, controller and storage medium

The invention provides a vehicle attitude determination method, a controller and a storage medium. The method comprises the following steps: acquiring a current frame image of an environment in front of a vehicle and/or an environment behind the vehicle; detecting actual static targets in the current frame image to form a target set; screening an actual static target which is the same as the actual static target in the previous frame of image from the target set, and recording the screened actual static target as an effective target; and according to the change trend of each effective target from the previous frame image to the current frame image, determining the posture of the vehicle. According to the method, the posture of the vehicle can be determined only through image processing, the cost is low, the development difficulty is low, the development period is short, the product putting market threshold can be lowered, and the application market of after-loading sensing equipment can be expanded. 本发明提供一种车辆