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Achieving method and device of trailer dynamic trajectories

A realization method, a technology of trajectory lines, applied in the direction of vehicle components, transportation and packaging, steering mechanisms, etc.

Inactive Publication Date: 2018-08-31
鹰驾科技(深圳)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing methods for calculating the dynamic trajectory of a car are usually only applicable to the case where the whole body is a rigid object. The front wheels of the vehicle follow the direction of rotation of the steering wheel, and the axles of the rear wheels are always kept perpendicular to the main axis of the car body.

Method used

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  • Achieving method and device of trailer dynamic trajectories
  • Achieving method and device of trailer dynamic trajectories
  • Achieving method and device of trailer dynamic trajectories

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Experimental program
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Embodiment

[0037] Please refer to the attached Figure 1-5 , the present invention provides a method and device for realizing the dynamic track line of a trailer, the steering wheel angle information is obtained from the CAN bus of the automobile, or the steering wheel angle information is obtained through an additional angle sensor; the conversion between the steering wheel angle and the front wheel angle of the tractor Relationships can be measured, or calculated from preset models. Such as figure 1As shown, the left and right front wheels of the tractor can rotate with the steering wheel, and the rotation angles are α and β respectively, and the steering wheel angle data obtained from the CAN bus is γ, then α=f(γ), β=g(γ). For the same γ value, α and β are different, and f and g represent different mapping functions. For the convenience of calculation, sometimes the weighted average value of α and β can be taken as the value of the front wheel rotation angle. For example, f(γ)=γ / 8+...

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Abstract

The invention discloses an achieving method of trailer dynamic trajectories. The method specifically includes the following steps that (1) a steering wheel angle is obtained, and a front wheel angle of a motor tractor is calculated on the basis of the steering wheel angle; (2) the included angle of main shafts of adjacent carriages is obtained and calculated, wherein the adjacent carriages comprise the motor tractor and one corresponding trailer and further comprise the trailers; (3) the circle centers of motion trajectories are determined through the steering wheel angle, the front wheel angle of the motor tractor and the included angle of the main shafts of the adjacent carriages, and the motion dynamic trajectories of corresponding portions of a vehicle body are further obtained; and (4) the dynamic trajectories are drawn in a user view. By the adoption of the provided achieving method and device of the trailer dynamic trajectories, the dynamic trajectories of the vehicle bodies ofthe trailers can be calculated and displayed, and driver driving is further effectively assisted.

Description

technical field [0001] The invention relates to the technical field of automobiles, and more specifically relates to a method and a device for realizing a dynamic trajectory of a trailer. Background technique [0002] The dynamic trajectory of the car refers to the connection of the passing positions of the various parts of the car body during the driving process of the car, and the position that each part of the car body is about to pass is related to the current corner of the front wheel of the car, that is, the corner of the front wheel of the car at any time can be obtained In the case of , the trajectory line that any part of the vehicle body will pass through can be calculated at the current corner. By transforming and mapping the trajectory lines in the world coordinate system, the actual space trajectory lines can be depicted in the camera images of different installation positions and angles, as well as in the processed and fused camera images, so as to display the ...

Claims

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Application Information

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IPC IPC(8): B62D15/02
CPCB62D15/0295
Inventor 段侪杰郑智宇张飞龙
Owner 鹰驾科技(深圳)有限公司
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