import math


def convert_local_to_global_vector(v: list, yaw: float):
    """
    Converts the given vector in vehicle coordinate system to the global one under the given vehicle yaw.
    """
    vx = math.cos(math.radians(yaw)) * v[0] - math.sin(math.radians(yaw)) * v[1]
    vy = math.sin(math.radians(yaw)) * v[0] + math.cos(math.radians(yaw)) * v[1]
    return [vx, vy]